طراحي و توسعه يك ربات همه جهته هولونوميك با استفاده از مكانيزم رانش تفاضلي

Development and Modeling of a Differential-Drive-Based Holonomic Mobile Robot

In this paper, a holonomic ominidirectional mobile robot is introduced. The developed robot is based on ordinary differential drive mechanism with an extra joint. That joint is mounted on the base in an of centered location from the wheels axe. Using ordinary wheels, the robotʹs mechanism and its control system remain simple while it is capable of moving on different surfaces along complicated paths in indoor environments. A kinematic model of the robot is driven and analyzed. Also, an appropriate dead-reckoning system and a path tracking module are developed and a proper control system is designed. The experimental results are provided to show the mobility of the developed robot and the controllerʹs performance. The results show that the robot is capable of moving in arbitrary directions from any configuration. It is also able to negotiate tight turns.