Treffer: 全向輪型機器人之動力與控制 ; Dynamics and Control Design of an Omnidirectional Mobile Robot

This thesis will start with an explanation of the concept and advantages of omnidirectional mobility. Then, a brief introduction to the omnidirectional mobile platform will be given and hardware characteristics be clarified. Thereafter, the robot kinematics is analyzed to prescribe the robot’s movements in the environment; the dynamics slip model is built which will be used to implement tracking. Base on dynamics model, a path tracking control is design using sliding mode control, fuzzy logic control to make robot follow the desired path with minimal system tracking error. The tracking performance of tracking strategy is evaluated by MATLAB simulation. The experiment for validating the developed method of tracking control is implemented by Digital Signal Processor and experimental results are shown. Finally, summarizes the research results and discusses ideas for future extension of the research.