Design And Control Of Omnidirectional Mobile Platform

The thesis focuses on the design of an omni-directional system for the application in the middle-size league of RoboCup. It covers the mechanical design of an omni-directional mobile robot and shows how to control the omni-directional wheels of the system.The main works of the thesis are as follows: Design a type of practical omni-directional wheel which is used in the omni-directional system; Resolve the problem that all the four wheels cannot contact with the ground evenly in different terrain locomotion. Several alternative absorbers are designed to absorb the shock brought by the chassis of robot .A device for the installation and adjustment of the omni-vision system has been invented. Then we put all the function parts together to form a steady-going system. In addition, the performance indexes and control methods are also discussed. It covers the analyzation of the system performance, introduction of the vehicle kinematics and dynamic modeling. At last we show how to control the wheels in phase.This kind of system excels at motional ability. It has been proved to be a platform available in RoboCup middle size, and provides the players some abilities that it can freely travel in confused dynamic circumstance and achieve an accurate positioning in the competition.