Dynamics and controls for an omnidirectional robot

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Title:	Dynamics and controls for an omnidirectional robot
Author:	Henning, Timothy Paul
Description:	This thesis presents a brief overview of mobile robots and omni-directional motion. The design process of the Ohio University RoboCup robots is also explained in detail, along with recommended design changes for future robots. The forward and inverse kinematic equations are derived along with the dynamic equations of motion. These equations were then used to perform computer simulations and hardware experiments to evaluate and improve on the current performance of the robot. Hardware experiments were also done using a vision-based system. These results were then compared to the results of the hardware simulations completed with a tethered robot. Experiments were also run to show the effects of slippage as the speed of the robot is increased. The results show that the dynamic model used in Simulink properly represents the actual robot. They also show that some type of higher order path planning is needed in order for the robot to make smooth movements. In comparing the hardware experiments, the tethered robot shows a definite improvement in the speed and accuracy of the robot while completing predetermined patterns.
Permanent Link:	http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1175093596 http://hdl.handle.net/2374.OX/14012
Date:	2003

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Now showing item 53159 of 172559