Control of a novel omni-directional platform

Abstract

A unique design for an omni-directional platform to be used in conjunction with a robotic arm is presented. The platform differs from other omni-wheel layouts in that its drive axes do not intersect its geometric centre. The platform can be controlled in a local method using a three degree-of-freedom (DOF) joystick interfaced directly with the platform through a microcontroller. A global control method is introduced using encoder feedback to determine velocity and a wireless pose detection system to determine the position and orientation of the platform relative to a defined coordinate system.