Motion controller design and embedded realization for Mecanum wheeled omnidirectional robots

This paper presents techniques for design and embedded implementation of a kinematics controller for a Mecanum wheeled omnidirectional robot (MWOR). The kinematic controller is designed based on feedback linearization method, and then shown asymptotically stable via the Lyapunov stability theory. The proposed motion control law has been implemented into an FPGA development board using System-on-a-programmable-chip (SoPC). Simulations and experimental results are conducted to illustrate the effectiveness and performance of the proposed controller for Mecanum wheeled omnidirectional robots.