Control and Efficiency Analysis of Multi-Motion of Four Wheel Drive Omni-Directional Robot

Abstract

To control an Omni-directional robot in multimotion, a detail analysis is done which includes study of the Design and Kinematics of the robot leading to the motion analysis done mathematically and then experimentally. This research presented extends the pre-present research on the control and motion of the Omni-directional robot by presenting a unique motion methodology for higher efficiency. The major focus of this paper lies in the control and efficiency analysis and the results of the multi-motion analysis are compared with other literatures of the same workspace conditions. The motion of the robot is examined in two ways: Linear and Circular. The core concept of the motion analysis lies in the idea that the robot does not change its orientation during motion, thus challenging the motion efficiency of conventional and Omni-directional robots with higher maneuverability through experimentally compiled results. The results of these multi-motions are also compared with each other to get a better efficiency of Omni-directional robot. The research also addresses the issue of the Jacobian being nonsquare for inverse kinematics. The inverse kinematics is solved through Moore-Penrose pseudo inverse method, yielding to accurate results experimentally.