Design of Motion Control System for Omnidirectional Four-Drive Mobile Robot

摘要

In order to realize the inspection of substation indoor and outdoor equipment with only one robot, the omnidirectional four-drive mobile robot was developed. This paper focuses on the development process of the motion control system of the robot. The mechanical structure and motion control system structure of the omnidirectional four-drive mobile platform are introduced. The kinematic model of the mobile platform is established. The different motion modes of the omnidirectional four-drive robot are discussed and the control methods are proposed. Finally, the omnidirectional four-drive substation inspection robot was tested, which verified the reliability of the motion control system and the effectiveness of the control method.