Dynamic modelling and simulation of a three-Wheeled Omnidirectional Mobile Robot

Abstract

This paper presents the dynamic analysis of a three-wheeled omnidirectional mobile robot (TWOMR) using bond graph approach. The robot contain subsystem from different physical domain; the global model is obtained by integrating the model of each sub domain. Simulation is carried out using BG_V20 toolbox in MATLAB Simulink to show the effectiveness of the proposed dynamic model. The simulated results are verified with the Newton-Euler method to illustrate the efficacy of the dynamic modelling technique. The developed bond graph model can be used for various control aspects of the robot.