Indrazno Siradjuddin, Aang Junaidi, Ratna Ika Putri, Erfan Rohadi, Supriatna Adhisuwignjo
A three-wheeled omnidirectional mobile robot is a mobile robot can solve constraint of common design a mobile robot which uses two-wheel drive with differential steering and a free balancing wheel (Non-holonomic). By found kinematic model of a three-wheeled omnidirectional mobile robot, we describe inverse kinematics and inverse jacobian matrix to control and the simulated motion of a mobile robot for optimizing mobility and maneuvers ability of a mobile robot . It has a past advantage over a conventional design (non-holonomic) in term of mobility and maneuvering in a congested environment. In this paper, we are presentinganalysis and simulated kinematic model a three-wheeled omnidirectional mobile robot, velocities of coordinates, and trajectory from initial pose to the desired pose. The simulation of the trajectory robot is used to describe the ability of a system to move instantaneously in any direction from any configuration. Modeling mobile robot with three wheels Omni-directional describe optimizing motion capability in differential geometric point of view. This research is will be developing for visual servoing law method research in robotic field. © 2020 SSRG International Journal of Electrical and Electronics Engineering. All rights reserved.
Departement of Electrical Engineering, State Polytechnic of Malang, East Java, Indonesia; Departement of Information Technology, State Polytechnic of Malang, East Java, Indonesia
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