Abstract
This paper presents a damping control and a transfer control with an omni-directional mobile robot.The robot moves to the all directions by using three omni wheels,and a spherical pendulum is considered as a carrier.The damping and transfer control system consists of a feedforward control part and a feedback one.In the feedforward control part,the damping control of the spherical pendulum is carried out by shaping the acceleration of the robot with a notch-filter.In the feedback control part,an optimal servo is used to correct the position of the robot and to damp the amplitude of the angle of the pendulum.A weighting matrix of the optimal servo is optimized by using a genetic algorithm.Transfer path is a straight line on a plane.The usefulness of the proposed control system is verified through simulation and experiment.
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