Omnidirectional Control
: Abstract
This paper shows how to control a robot with omnidirectional
wheels, using as example robots with four motors, and generalizing
to n motors. More than three wheels provide redundancy: many combinations
.of motors speeds can provide the same Euclidean movement
Since the system is over-determined, we show how to compute a set
of consistent and optimal motor forces and speeds using the pseudoinverse
of coupling matrices. This approach allows us also to perform
a consistency check to determine whether a wheel is slipping on the
floor or not. We show that it is possible to avoid wheel slippage by
.driving the robot with a motor torque under a certain threshold
omnidirectional four-wheeled robot
Source : mechanics-eng.blogfa.com
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