Four-wheeled Omnidirectional Robot Research Articles

The Importance of the Fourth wheel in a Four-wheeled Omni Directional Mobile Robot-An Experimental Analysis

A four-wheeled Omni Directional Robot may travel in any direction without turning its wheels. In this research work, four Omni-directional wheels have been placed at 90°. This four-wheeled, omnidirectional mobile robot appears to be a square design from the top view, with its wheel axes at 90 degrees. Power is given to the front wheel using a DC motor and that wheel alone will rotate. All other three wheels (Right, Left and Back) are kept in neutral positions. These wheels can move based on the front wheel’s rotation. No power given to these wheels. Three different practical analyses have been done. In this first experimental analysis, the back wheel is kept as an Omni direction wheel. In this Second experimental analysis, the back wheel is kept as a Roller wheel. In this Third experimental analysis, the back wheels are removed and the other three wheels are kept and analysis is done. The importance of the back wheel in the four-wheeled Omni Directional Robot is demonstrated in this research work.

Implementation Kinematics Modeling and Odometry of Four Omni Wheel Mobile Robot on The Trajectory Planning and Motion Control Based Microcontroller

The control of kinematic modeling in a four wheel omni-directional robot (FWOR) is very difficult. Because you have to adjust the speed of the four DC motors. The speed of DC motors is controlled so that the FWOR robot can be controlled. This paper will explain the application of kinematic modeling of four wheel omni directional robots as track tracking controllers and microcontroller based movement control. Kinematic is the study of robot motion based on geometric structure analysis of a stationary / moving reference coordinate frame system without considering the force, torque or certain moments that cause movement. By applying kinematic modeling and calculation of the odometric system as feedback, the control of the robot trajectory movement can be controlled with precision in accordance with the path planning that has been made. The robot track control technique is embedded in a 32-bit ARM microcontroller. The path planning system and observing robot movement are carried out using a friendly graphic interface using Processing to facilitate the robot monitoring process. The results of the experiments and tests carried out, the system is able to control the rate of movement of the robot with great precision in accordance with the path planning made.