Dynamics and Control of a Mobile Kicking Robot

摘要

This paper contains the complete research and work required for the development of a 4-wheeled holonomic drive Kicking Robot for Omnidirectional movement, designed for achieving desired kicking range and right motion, using control and dynamics. We have used Kinematics and PID control algorithms to reach the desired limits. The integration of numerous sensors makes the robot more accurate and versatile for situations, and their working along with control has also been explained, in addition, the digital Alters for proper sensors data acquisition have been implemented. Furthermore, equations and dynamics of the traversal of the robot using mecanum wheels have been explained. We have also explained the developed Circuitry and Circuit Protection for the high reliability of the robot along with the workflow.