Three-wheeled omnidirectional robot controller implementation

摘要

This paper presents a controller design and its implementation for an omnidirectional robot. Due to the holonomic nature of an omnidirectional robot, the mobile robot are able to follow any planned trajectory. The path are calculated on the world frame and then transformed using inverse kinematic to each of the mobile robot motor speed. Therefore a kinematic model for the robot are derived and a PID controller is utilized to control the speed of each actuator. MATLAB® System Identification Tools® is used to identify the transfer function of each actuator and then simulated using the MATLAB® SIMULINK® platform to design a suitable PID control.