Triangular Omnidirectional Wheel Motion Control System

Abstract

Omni-directional wheels are more flexible than traditional wheeled robots. Through three rounds of omni-directional wheel mobile platform modeling and kinematics analysis. The speed of the three wheels can be analyzed when the omni-moving platform moves in a certain direction. Then the CPU by the PID algorithm to calculate the connection of omni-directional wheel three dc motor need duty ratio, round so as to realize omnidirectional mobile platform of fast moving to any Angle. The experimental results show that the mobile platform can move rapidly in any direction.