On the motion of a mobile robot with roller-carrying wheels

Abstract

The motion equations of a robot on a horizontal surface on three roller-carrying wheels of omni directional type are derived without account of possible slippage. An exact solution of the equations is found when at the direct-current motors moving the wheels a constant voltage is supplied. The problem of minimizing the torques of electric motors is considered and steady-state motion modes are specified for which the torques of electric motors and energy expenses are minimum. The reckoning system for the robot traveled distance is described.