Simultaneous rotation and translation movement for four omnidirectional wheels holonomic mobile robot

摘要

Navigation and positioning is the main system for a mobile robot. Holonomicity in the field of robotic has becoming more and more important as it allow the mobile robot to do translation and rotation movements. Although many research had done to overcome the poor motion stability and trajectory motion using three omnidirectional wheels, they may have stability problems due to triangular contact area with the ground and the payload they carry. Thus, to increase the movement efficiency of the holonomic mobile robot, simultaneous translation and rotation movements for four omnidirectional wheels holonomic mobile robot was introduced. To create the system for the movement, a methodology is laid out in this paper. A kinematic analysis was done on the movement of the holonomic mobile robot. The algorithm of the kinematic movement of the mobile robot then was developed. A test grid was carry out to test the navigation algorithm of the system and the result is within the acceptable range. This algorithm would allow the holonomic mobile robot to do translation and rotation movements either simultaneously or independently.