Kinematic-Based Nonlinear Control for an Omni-Directional Robot

摘要

In this study, we propose a new control strategy for a robot that utilizes a three Omni wheels for moving. With the construction of the kinematic characteristic equations of the system, it is possible to understand and calculate the correlation between the motions of the motors, the wheels, and the robot. Based on this background, a control strategy for the system is proposed, in which the state variables of the robot corresponding to the desired behavior are calculated and converted to the desired angular velocities of the electric motors. By using the traditional integral sliding controller, the motors are precisely controlled simultaneously with the achievement of the expected displacement of the robot. All simulation results are then given to verify the efficiency of the construction algorithm.