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Design, Simulation, and Control of an Omnidirectional Mobile Robot

Camilo Caceres(1), João Rosário(2), Dario Amaya(3*)

(1) University of Campinas (UNICAMP), Brazil
(2) University of Campinas (UNICAMP), Brazil
(3) Nueva Granada Military University, Colombia
(*) Corresponding author


DOI: https://doi.org/10.15866/ireme.v12i4.13974

Abstract


Nowadays, the design phase of any mechatronic system is mandatory before the implementation and the construction of a prototype. In the design phase, it is crucial to minimize failures, without under-dimensioning, any drive system in the desired prototype, using different simulation tools to test the proposed design under varied conditions.In this paper, the design, the simulation, and the control of a holonomic or omnidirectional mobile robot are presented. The design approach consists of a mathematically based method. The obtained model is an approach of the studied mobile robot, that allows an approach to the system’s behaviour, to a testing platform, and to a simulator for the desired robot, including most of the innerrobot’s interactions. The main contributions of this paper are the presentation and the study case of a proposed structured methodology for the study of any mechatronic-robotic system.
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Keywords


Mechatronic System; Mobile Robot; Omnidirectional Robot; Holonomic Robot; Kinematic Model; Dynamic Model; Design Approach; Joint Control; Simulation Platform

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