Title: Omnidirectional service robot: from design to trajectory tracking control

Authors: Sohrab Allahyari; Ramin Mersi; Mohammad Reza Haghjoo; Vahid Fakhari

Addresses: Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, 1658953571, Iran ' Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, 1658953571, Iran ' Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, 1658953571, Iran ' Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, 1658953571, Iran

Abstract: This paper presents the comprehensive design, modelling, and tracking control of a service robot, a three-wheeled omnidirectional mobile robot covering all stages of development, including experimentation with a prototype. The system features a lightweight yet sturdy structure, drive and control systems, and a wireless user interface accessible through smartphones, among other components. The robot's kinematics and dynamics are meticulously studied, and an open-loop model is derived with careful consideration of the primary nonlinearities within the robot. Two effective closed-loop controllers focusing on low-level control are proposed in this work. Firstly, an independent joint proportional- integral (PI) controller utilises velocity feedback control of motors in joint space. Secondly, additional outer position loops empower a cascade-modified proportional-integral-derivative (PID) controller. Several evaluation experiments were conducted, demonstrating the effectiveness of the tracking control and showcasing good agreement between simulation and experimental results.

Keywords: mobile robotics; omnidirectional wheel; embedded system; modelling; trajectory tracking control.

DOI: 10.1504/IJMMS.2024.143314

International Journal of Mechatronics and Manufacturing Systems, 2024 Vol.17 No.3, pp.225 - 240

Received: 22 Mar 2024
Accepted: 14 Jun 2024
Published online: 13 Dec 2024 *

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