A tracking method of an assembling omni-directional mobile robot

摘要

In this paper, a novel assembling omni-directional mobile robot is designed for assemble work and adapting to confined space in the automated factories. In order to complete the assembly operation tasks more precisely, a new trajectory tracking method based on infrared array module is proposed in the control system of the robot. The different patterns of the infrared array and trajectory width are optimized for getting more trajectory tracking accuracy. Further , the trajectory tracking control algorithm is achieved. And trajectory tracking experiment is performed on the robot prototype to verify the proposed tracking method.