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Research Article | Open Access
Volume 6 | Issue 12 | Year 2019 | Article Id. IJEEE-V6I12P101 | DOI : https://doi.org/10.14445/23488379/IJEEE-V6I12P101

Kinematics and Control A Three Wheeled Omnidirectional Mobile Robot

Indrazno Siradjuddin, Aang Junaidi, Ratna Ika Putri, Erfan Rohadi, Supriatna Adhisuwignjo

Citation :

Indrazno Siradjuddin, Aang Junaidi, Ratna Ika Putri, Erfan Rohadi, Supriatna Adhisuwignjo, "Kinematics and Control A Three Wheeled Omnidirectional Mobile Robot," International Journal of Electrical and Electronics Engineering, vol. 6, no. 12, pp. 1-6, 2019. Crossref, https://doi.org/10.14445/23488379/IJEEE-V6I12P101

Abstract

A three-wheeled omnidirectional mobile robot is a mobile robot can solve constraint of common design a mobile robot which uses two-wheel drive with differential steering and a free balancing wheel (Non-holonomic). By found kinematic model of a three-wheeled omnidirectional mobile robot, we describe inverse kinematics and inverse jacobian matrix to control and the simulated motion of a mobile robot for optimizing mobility and maneuvers ability of a mobile robot . It has a past advantage over a conventional design (non-holonomic) in term of mobility and maneuvering in a congested environment. In this paper, we are presentinganalysis and simulated kinematic model a three-wheeled omnidirectional mobile robot, velocities of coordinates, and trajectory from initial pose to the desired pose. The simulation of the trajectory robot is used to describe the ability of a system to move instantaneously in any direction from any configuration. Modeling mobile robot with three wheels Omni-directional describe optimizing motion capability in differential geometric point of view. This research is will be developing for visual servoing law method research in robotic field.

Keywords

Omnidirectional, Mobile robot, Kinematic, Mobility, Constraint.

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