Indrazno Siradjuddin, Gilang Al Azhar, Sapto Wibowo, Ferdian Ronilaya, Cahya Rahmad, Erfan Rohadi
An omnidirectional mobile robot configuration is a promising mobile robot technology in the future, since it has holonomic properties, where the motion constraints is only limited in the robot actuator space. In the two dimensional task space, the omnidirectional robot is able to move in any configuration. This omnidirectional motion ability is primarily caused by the mechanism of the robot wheels. Two most commonly used wheel technologies are omni and mecanum wheels. Indeed, many literatures and studies are available in developing the kinematic model, however the presented kinematic models were developed based on the specific cases. For control engineers, this may be the issue where the kinematic development has to be formulated from scratch to meet their own robot specification. Therefore, it is important to have a general framework for developing the omnidirectional kinematic model. This work presents a generic kinematic formulation to model omnidirectional mobile robot using omni and mecanum wheel types. The formulation can be used for any number of robot wheel configuration. In this paper, three omnidirectional robot platform configurations: three omni-wheels robot, four mecanum-wheels robot and six omni-wheels robot have been chosen for discussion to demonstrate the developed generic kinematic formulation. Additionally, this work also proposes two control schemes for controlling the robot motion: an exponential decreased error tracking algorithm (so called as the model based control scheme) and a Proportional-Integral (P-I) control scheme. The state space formulation has also been exposed to validate the controllability of the kinematic control system. The performances of both control schemes have been simulated and analysed for two cases of robot tracking application: a static and a moving target. The performances have been measured in terms of robot posture in two dimensional space, robot control signals and the error signals trajectories. The controller gains have been manually chosen by trial and error. The simulation results have demonstrated satisfactory performances of the developed generic kinematic formulation and control schemes. The derived control schemes guarantees an exponential decrease of the error. © 2021, International Association of Engineers. All rights reserved.
Department of Electrical Engineering, State Polytechnic of Malang, 65141, Indonesia; Department of Information Technology, State Polytechnic of Malang, 65141, Indonesia