Omni-directional locomotion for mobile robots

by Carter, Brian Edward

In this Thesis, a brief overview of mobile robots and omni-directional robots is presented, as well as a detailed history of the RoboCup competition. The player robot design process undertaken by the Ohio University Mechanical Engineering department led by the author) is discussed in detail, and the inverse kinematic equations and dynamic equations of motion are derived. These dynamic equations were then used to create two Simulink simulations, the simple and complex dynamic models. A third simulation was created to compensate for the slipping disturbances in the wheel motivated by initial experimental work. The most accurate of the simulations (the third, dubbed the Slip Simulation) was then compared with the experimental data.