Cover Image

Implementation Kinematics Modeling and Odometry of Four Omni Wheel Mobile Robot on The Trajectory Planning and Motion Control Based Microcontroller

Dhiya Uddin Rijalusalam, Iswanto Iswanto

Abstract


The control of kinematic modeling in a four wheel omni-directional robot (FWOR) is very difficult. Because you have to adjust the speed of the four DC motors. The speed of DC motors is controlled so that the FWOR robot can be controlled. This paper will explain the application of kinematic modeling of four wheel omni directional robots as track tracking controllers and microcontroller based movement control. Kinematic is the study of robot motion based on geometric structure analysis of a stationary / moving reference coordinate frame system without considering the force, torque or certain moments that cause movement. By applying kinematic modeling and calculation of the odometric system as feedback, the control of the robot trajectory movement can be controlled with precision in accordance with the path planning that has been made. The robot track control technique is embedded in a 32-bit ARM microcontroller. The path planning system and observing robot movement are carried out using a friendly graphic interface using Processing to facilitate the robot monitoring process. The results of the experiments and tests carried out, the system is able to control the rate of movement of the robot with great precision in accordance with the path planning made.


Keywords


Omni Wheel Mobile Robot; Kinematics; Modeling; Odometry; Trajectory; Motion Control

Full Text:

PDF

References


P. Van Lam and Y. Fujimoto, “A Robotic Cane for Balance Maintenance Assistance,” IEEE Trans. Ind. Informatics, vol. 15, no. 7, pp. 3998–4009, Jul. 2019.

C. Cai, J. Lu, and Z. Li, “Kinematic Analysis and Control Algorithm for the Ballbot,” IEEE Access, vol. 7, pp. 38314–38321, 2019.

W. Li and R. Xiong, “Dynamical Obstacle Avoidance of Task- Constrained Mobile Manipulation Using Model Predictive Control,” IEEE Access, vol. 7, pp. 88301–88311, 2019.

M. Ferro, A. Paolillo, A. Cherubini, and M. Vendittelli, “Vision-Based Navigation of Omnidirectional Mobile Robots,” IEEE Robot. Autom. Lett., vol. 4, no. 3, pp. 2691–2698, Jul. 2019.

T. Terakawa, M. Komori, K. Matsuda, and S. Mikami, “A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints,” IEEE/ASME Trans. Mechatronics, vol. 23, no. 4, pp. 1716–1727, Aug. 2018.

B. A. Gebre and K. V. Pochiraju, “Machine Learning Aided Design and Analysis of a Novel Magnetically Coupled Ball Drive,” IEEE/ASME Trans. Mechatronics, vol. 24, no. 5, pp. 1942–1953, Oct. 2019.

P. Shen, X. Zhang, and Y. Fang, “Complete and Time-Optimal Path-Constrained Trajectory Planning With Torque and Velocity Constraints: Theory and Applications,” IEEE/ASME Trans. Mechatronics, vol. 23, no. 2, pp. 735–746, Apr. 2018.

M. A. Al Mamun, M. T. Nasir, and A. Khayyat, “Embedded System for Motion Control of an Omnidirectional Mobile Robot,” IEEE Access, vol. 6, no. 8, pp. 6722–6739, 2018.

Y. Fei and H. Xu, “Modeling and Motion Control of a Soft Robot,” IEEE Trans. Ind. Electron., vol. 64, no. 2, pp. 1737–1742, Feb. 2017.

M. Thor and P. Manoonpong, “A Fast Online Frequency Adaptation Mechanism for CPG-Based Robot Motion Control,” IEEE Robot. Autom. Lett., vol. 4, no. 4, pp. 3324–3331, Oct. 2019.

B. Ren, Y. Wang, and J. Chen, “A Novel Robust Finite-Time Trajectory Control With the High-Order Sliding Mode for Human–Robot Cooperation,” IEEE Access, vol. 7, pp. 130874–130882, 2019.

H. Chang, S. J. Kim, and J. Kim, “Feedforward Motion Control With a Variable Stiffness Actuator Inspired by Muscle Cross-Bridge Kinematics,” IEEE Trans. Robot., vol. 35, no. 3, pp. 747–760, Jun. 2019.

J. Chi, H. Yu, and J. Yu, “Hybrid Tracking Control of 2-DOF SCARA Robot via Port-Controlled Hamiltonian and Backstepping,” IEEE Access, vol. 6, pp. 17354–17360, 2018.

F. Angelini et al., “Decentralized Trajectory Tracking Control for Soft Robots Interacting With the Environment,” IEEE Trans. Robot., vol. 34, no. 4, pp. 924–935, Aug. 2018.

L. Ge, H. Wang, and J. Xing, “Maintenance robot motion control based on Kinect gesture recognition,” J. Eng., vol. 2019, no. 23, pp. 8794–8796, Dec. 2019.

S. Verma, D. Shen, and J. Xu, “Motion Control of Robotic Fish Under Dynamic Environmental Conditions Using Adaptive Control Approach,” IEEE J. Ocean. Eng., vol. 43, no. 2, pp. 381–390, Apr. 2018.

A. Magassouba, N. Bertin, and F. Chaumette, “Exploiting the Distance Information of the Interaural Level Difference for Binaural Robot Motion Control,” IEEE Robot. Autom. Lett., vol. 3, no. 3, pp. 2048–2055, Jul. 2018.

H. Ashrafiuon, S. Nersesov, and G. Clayton, “Trajectory Tracking Control of Planar Underactuated Vehicles,” IEEE Trans. Automat. Contr., vol. 62, no. 4, pp. 1959–1965, Apr. 2017.

Q. Zheng, Y. He, X. Qi, P. Zhang, Y. Hu, and B. Li, “Safety Tracking Motion Control Based on Forbidden Virtual Fixtures in Robot Assisted Nasal Surgery,” IEEE Access, vol. 6, no. c, pp. 44905–44916, 2018.

Z. Sun, Y. Xia, L. Dai, K. Liu, and D. Ma, “Disturbance Rejection MPC for Tracking of Wheeled Mobile Robot,” IEEE/ASME Trans. Mechatronics, vol. 22, no. 6, pp. 2576–2587, Dec. 2017.

D. Nakhaeinia, P. Payeur, and R. Laganiere, “A Mode-Switching Motion Control System for Reactive Interaction and Surface Following Using Industrial Robots,” IEEE/CAA J. Autom. Sin., vol. 5, no. 3, pp. 670–682, May 2018.

Z. Zhang, J. Dequidt, J. Back, H. Liu, and C. Duriez, “Motion Control of Cable-Driven Continuum Catheter Robot Through Contacts,” IEEE Robot. Autom. Lett., vol. 4, no. 2, pp. 1852–1859, Apr. 2019.

Y. Huang, D. M. Pool, O. Stroosma, and Q. Chu, “Long-Stroke Hydraulic Robot Motion Control With Incremental Nonlinear Dynamic Inversion,” IEEE/ASME Trans. Mechatronics, vol. 24, no. 1, pp. 304–314, Feb. 2019.

J. Yu, Z. Wu, Z. Su, T. Wang, and S. Qi, “Motion Control Strategies for a Repetitive Leaping Robotic Dolphin,” IEEE/ASME Trans. Mechatronics, vol. 24, no. 3, pp. 913–923, Jun. 2019.

M. Bjelonic et al., “Keep Rollin’—Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots,” IEEE Robot. Autom. Lett., vol. 4, no. 2, pp. 2116–2123, Apr. 2019.

T. Salumae, A. Chemori, and M. Kruusmaa, “Motion Control of a Hovering Biomimetic Four-Fin Underwater Robot,” IEEE J. Ocean. Eng., vol. 44, no. 1, pp. 54–71, Jan. 2019.

R. A. S. Fernandez, Z. Milosevic, S. Dominguez, and C. Rossi, “Motion Control of Underwater Mine Explorer Robot UX-1: Field Trials,” IEEE Access, vol. 7, pp. 99782–99803, 2019.

H. Chang, S. Wang, and P. Sun, “Omniwheel Touchdown Characteristics and Adaptive Saturated Control for a Human Support Robot,” IEEE Access, vol. 6, pp. 51174–51186, 2018..




DOI: https://doi.org/10.18196/jrc.25121

Article Metrics

Abstract view : 183 times
PDF - 158 times

Refbacks

  • There are currently no refbacks.


Copyright (c) 2020 Journal of Robotics and Control (JRC)

Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.


Abstracted/Indexed by:

    

    

 


Journal of Robotics and Controls (JRC)

P-ISSN: 2715-5056 || E-ISSN: 2715-5072
Organized by Lembaga Penelitian, Publikasi & Pengabdian Masyarakat UMY, Yogyakarta, Indonesia
Published by Universitas Muhammadiyah Yogyakarta, Yogyakarta, Indonesia
Website: http://journal.umy.ac.id/index.php/jrc
Email: jrc@umy.ac.id || jrcofumy@gmail.com


 

Creative Commons License

This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.