Design and development of an omnidirectional mobile robot
Most mobile robots use differential-drive concept, where they are equipped with two actuators that permit only single-direction rotation at a time. This concept limits the robots navigation because its orientation must always change according to the direction of movement. This paper presents the dev...
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2013
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my.utm.509742017-09-14T11:08:53Z http://eprints.utm.my/id/eprint/50974/ Design and development of an omnidirectional mobile robot Kang, T. W. Yong, L. T. Fai, Y. C. Ming, E. S. L. TK Electrical engineering. Electronics Nuclear engineering Most mobile robots use differential-drive concept, where they are equipped with two actuators that permit only single-direction rotation at a time. This concept limits the robots navigation because its orientation must always change according to the direction of movement. This paper presents the development of an omnidirectional mobile robot that uses three actuators, aligned in 120 degrees separation and each attached to an omniwheel. By manipulating actuator speed, the robot can navigate to any direction without changing its orientation. Using NIsbRIO9632xt as the main controller, navigation algorithm is implemented in LabVIEW, integrated with PID controller to fine-tune robot movements. 2013 Conference or Workshop Item PeerReviewed Kang, T. W. and Yong, L. T. and Fai, Y. C. and Ming, E. S. L. (2013) Design and development of an omnidirectional mobile robot. In: Applied Mechanics And Materials. http://dx.doi.org/10.4028/www.scientific.net/AMM.432.494 |
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TK Electrical engineering. Electronics Nuclear engineering |
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TK Electrical engineering. Electronics Nuclear engineering Kang, T. W. Yong, L. T. Fai, Y. C. Ming, E. S. L. Design and development of an omnidirectional mobile robot |
| description |
Most mobile robots use differential-drive concept, where they are equipped with two actuators that permit only single-direction rotation at a time. This concept limits the robots navigation because its orientation must always change according to the direction of movement. This paper presents the development of an omnidirectional mobile robot that uses three actuators, aligned in 120 degrees separation and each attached to an omniwheel. By manipulating actuator speed, the robot can navigate to any direction without changing its orientation. Using NIsbRIO9632xt as the main controller, navigation algorithm is implemented in LabVIEW, integrated with PID controller to fine-tune robot movements. |
| format |
Conference or Workshop Item |
| author |
Kang, T. W. Yong, L. T. Fai, Y. C. Ming, E. S. L. |
| author_facet |
Kang, T. W. Yong, L. T. Fai, Y. C. Ming, E. S. L. |
| author_sort |
Kang, T. W. |
| title |
Design and development of an omnidirectional mobile robot |
| title_short |
Design and development of an omnidirectional mobile robot |
| title_full |
Design and development of an omnidirectional mobile robot |
| title_fullStr |
Design and development of an omnidirectional mobile robot |
| title_full_unstemmed |
Design and development of an omnidirectional mobile robot |
| title_sort |
design and development of an omnidirectional mobile robot |
| publishDate |
2013 |
| url |
http://eprints.utm.my/id/eprint/50974/ http://dx.doi.org/10.4028/www.scientific.net/AMM.432.494 |
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1643652901504024576 |
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13.160551 |