Experimental Analysis the Forward and Reverse Motion of Three Omnidirectional Wheel Robot (TODWR)

Abstract

Presently in the automation era vehicle robot is very important, therefore analysis the vehicle robot is most interesting topic for researchers. Omnidirectional wheels brought a renaissance in the area of vehicle robot. This study presents a design of the three omnidirectional wheeled robot (TODWR) controller and its application for a vehicle robot. As the omnidirectional wheels’ has a holonomic character, the three omnidirectional wheeled robot (TODWR) are capable to move any desire trajectory. The chassis of this robot is equilateral triangle shape and all omnidirectional wheels are arranged each of the corners of the triangle. The track are designed on the fixed world frame and then converted by the method of inverse kinematic to individual motor speeds.