Research on omnidirectional mobile robot motion control based on integration of traction and steering wheel

Abstract

In order to solve the automatic transportation of heavy materials under the limited working space of production workshops and warehouses, two sets of heavy-duty omnidirectional mobile robot motion control systems with steering wheel drive units were designed. The steering wheel combination drive unit of the “walking + steering” set is used to build the mobile robot chassis, and the mechatronics servo system and mathematical model of multi-motor coordinated motion are constructed. The communication between the controller and the steering wheel combination drive unit is established through the CAN bus. The specific implementation is to capture and analyze the control signal through the controller to obtain the desired motion mode, to obtain the motion of each set of steering wheel unit through the mathematical model, and to realize the desired motion through the synthesis of each set of steering wheel unit motion. It has been verified by experiments that the two sets of steering wheel unit-driven mobile robot control system realizes the zero turning radius, 360-degree omnidirectional movement of the robot and rotation during the movement. It can be used for flexible work in tight spaces.