Omnidirection Robot 3-wheel
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The document describes MATLAB code for modeling the kinematics of a 3-wheel omni-directional mobile robot. It presents equations to calculate the velocity of each wheel based on inputs of translational and rotational movement. The code uses these equations to determine if the robot's movement involves translation only, rotation only, or a combination of both based on the inputs. It also provides examples of omni-directional robots and references publications on modeling wheeled mobile robots.
Omnidirection Robot 3-wheel
- 1. Omni-direction Mobile Robot 3-Wheel June 22 2020 Code MATLAB Omni-direction mobile robot equations Prepared by Osama Nour El-Din Neama
- 2. 2 Contents 1.1 Omni-directional Mobile Robot 3-Wheel : . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.2 Examples Omni-direction Mobile Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.3 MATLAB Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.5 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
- 3. 3 Omni-directional Mobile Robot : Omni-directional robots are becoming more and more common in recent robotic applications. They offerimproved ease of maneuverability and effectiveness at the expense of increased complexity. Frequent applications include but are not limited to robotic competitions and service robotics. The goal of this work is tofind a precise dynamical model in order to predict the robot behavior. Models were found for two real worldomni- directional robot configurations and their parameters estimated using a prototype that can have 3 wheels. Simulations and experimental runs are presented in order to validate the presented work. Fig.1 differential wheeled robots
- 4. 4 1.2 Example of differential wheeled robots The Assistant Personal Robot Camera Robot Distance Robot 1.3 Code: clear all clc %% Omnidirection Mobile Robol Equations " Read The Note " % This Code Done By Osama Noor. %% % * * * * * * * *%% Before starting Note: "" Click Here to implement the full program "" * * * * * * * * disp=('Hello,Bro This Code to Solve OmniDirection Mobile Robot ') NOM=menu('How many Movements','1','2','3','4','5','6','7','8','9','10'); for i=1:NOM QUSHN=input('If have Xr&THr&Yr ENTER 1 If have Time&Xdis&THETA ENTER 2 Others ERROR = ') switch QUSHN case 1 %% When you choose the first option you must have it Xr,THr,Yr,L,R Xr=input('How many Xr='); %%XR(Dot) TH=input('How many THr='); %%ThetaR(Dot) Yr=input('How many Yr='); %%YR(Dot)
- 5. 5 L=input('How many L='); %%Length R=input('How many R='); %%Radius Quastion=input('THETA in degree =1 or radprSec=2 Others Error = '); case 1 THr=TH; PH1=(1/R)*(((sqrt(3)/2)*Xr)-(0.5*Yr)-(L*THr)); PH2=(1/R)*(Yr-(L*THr)); PH3=(1/R)*(-((sqrt(3)/2)*Xr)-(0.5*Yr)-(L*THr)); if Yr==0 && THr==0 && Xr~=0 PHi1=PH1 PHi2=PH2 PHi3=PH3 Movement=('Translation') elseif Yr==0 && Xr==0 && THr~=0 %%If you have a rotational movement without transmission PHi1=PH1 PHi2=PH2 PHi3=PH3 Movement='Rotation' elseif Yr==0 && Xr~=0 && THr~=0 %%If you have a rotational and transitional movement PHi1=PH1 PHi2=PH2 PHi3=PH3 Movement='Rotation & Translation' else Movement='Error' end case 2 THr=(TH*3.14/180); PH1=(1/R)*(((sqrt(3)/2)*Xr)-(0.5*Yr)-(L*THr)); PH2=(1/R)*(Yr-(L*THr)); PH3=(1/R)*(-((sqrt(3)/2)*Xr)-(0.5*Yr)-(L*THr)); if Yr==0 && THr==0 && Xr~=0 PHi1=PH1 PHi2=PH2 PHi3=PH3 Movement=('Translation') elseif Yr==0 && Xr==0 && THr~=0 %%If you have a rotational movement without transmission PHi1=PH1 PHi2=PH2 PHi3=PH3 Movement='Rotation' elseif Yr==0 && Xr~=0 && THr~=0 %%If you have a rotational and transitional movement PHi1=PH1 PHi2=PH2 PHi3=PH3 Movement='Rotation & Translation' else
- 6. 6 Movement='Error' end otherwise Movement='Error' end case 2 %% When you choose the first option you must have it Xdis,Time,TH,Yr,L,R Xdis=input('How many Xdis='); %%Xdis TH=input('How many TH='); %%Theta T=input('How many Time') %%Time Yr=input('How many Yr='); %%YR(Dot) L=input('How many L='); %%Length R=input('How many R='); %%Radius Xr=Xdis/T; Quastion=input('THETA in degree =1 or radprSec=2 Others Error =') switch Quastion case 1 THr=TH; PH1=(1/R)*(((sqrt(3)/2)*Xr)-(0.5*Yr)-(L*THr)); PH2=(1/R)*(Yr-(L*THr)); PH3=(1/R)*(-((sqrt(3)/2)*Xr)-(0.5*Yr)-(L*THr)); if Yr==0 && THr==0 && Xr~=0 PHi1=PH1 PHi2=PH2 PHi3=PH3 Movement=('Translation') elseif Yr==0 && Xr==0 && THr~=0 %%If you have a rotational movement without transmission PHi1=PH1 PHi2=PH2 PHi3=PH3 Movement='Rotation' elseif Yr==0 && Xr~=0 && THr~=0 %%If you have a rotational and transitional movement PHi1=PH1 PHi2=PH2 PHi3=PH3 Movement='Rotation & Translation' else Movement='Error' end case 2 THr=(TH*3.14/180); PH1=(1/R)*(((sqrt(3)/2)*Xr)-(0.5*Yr)-(L*THr)); PH2=(1/R)*(Yr-(L*THr)); PH3=(1/R)*(-((sqrt(3)/2)*Xr)-(0.5*Yr)-(L*THr)); if Yr==0 && THr==0 && Xr~=0 PHi1=PH1 PHi2=PH2 PHi3=PH3 Movement=('Translation')
- 7. 7 elseif Yr==0 && Xr==0 && THr~=0 %%If you have a rotational movement without transmission PHi1=PH1 PHi2=PH2 PHi3=PH3 Movement='Rotation' elseif Yr==0 && Xr~=0 && THr~=0 %%If you have a rotational and transitional movement PHi1=PH1 PHi2=PH2 PHi3=PH3 Movement='Rotation & Translation' else Movement='Error' end otherwise Movement='Error' end otherwise Code='This option is not available. Please,if you want other requests, add his code.ThanX' end end
- 8. 8 1.4 Conclusion: Omni direction mobile robot 3-Wheel Robot. If a transitional movement moves, the first wheel with the third will move at the same speed. If the movement was rotational, all wheels would move at the same speed. If the movement was rotational with transitional, the wheels would move at a different speed. In this paper, the robot equations were constructed and the velocity of each wheel was introduced with the width of the wheel path. Is it transitional only, rotational only, transitional and rotational at the same time? By the Matlab code program. 1.5 References : 1. Loh, W. K., Low, K. H., and Leow, Y. P. (2003). Mechatronics design and kinematic modelling of a singularityless omni-directional wheeled mobile robot. In Robotics and Automation, 2003. Proceedings. ICRA ’03. IEEE International Conference on, volume 3 2. Leow, Y. P., H., L. K., and K., L. W. (2002). Kinematic modelling and analysis of mobile robots with omnidirectional wheels. In Seventh lnternational Conference on Control, Automation, Robotics And Vision (lCARCV’O2), Singapore. 3.Williams, R. L., I., Carter, B. E., Gallina, P., and Rosati, G. (2002). Dynamic model with slip for wheeled omnidirectional robots. IEEE Transactions on Robotics and Automation, Contacts : linkedin.com/in/osama-n-neama-b2774118b www.facebook.com/Osama.N0r