Research On Motion Control And Trajectory Of Omni-Directional Four-Wheel Drive Mobile Robot

With the introduction of the concept of industry 4.0 and the comprehensive deployment and implementation of the strategy of "made in China 2025",the future of industry will be the use of intelligence to create more flexible production processes,it represents a shift in the mode of concentrated production,the shift is focused on the constant replacement of industrial robots.As a kind of industrial robot,mobile robot has developed rapidly in recent years with the construction of intelligent factory,intelligent logistics and intelligent home.Omni-directional mobile robot has strong load-carrying capacity,can achieve 3-degree-of-freedom movement in the plane,high flexibility,and has more advantages when moving in a narrow space.It has been widely used in industry,medical treatment,agriculture,forestry,national defense and other industries.This topic designs an omni-directional four-wheel mobile robot platform equipped with Mecanum wheel,which mainly includes robot chassis,lower computer control system,upper computer human-computer interaction system,sensor module and communication system.The chassis of the mobile robot adopts the combination of 4 Mecanum wheels to realize omnidirectional movement.The lower computer control system is designed around a 32-bit MK60 master control chip produced by NXP semiconductor.The human-computer interaction system software of the upper computer is developed by Visual Studio 2017.The interface design of the software is simple and easy to operate.It can observe the driving data of the mobile robot more intuitively,adjust the driving posture of the robot and arrange the tasks of the robot.After the platform is built,the hardware platform of the robot is continuously improved and the motion control system of the robot is optimized through testing.Finally,various state data of the mobile robot in different movement processes were collected through the lidar scanner and attitude meter on the platform,and the motion deviation of the omnidirectional mobile robot was analyzed due to uncertain factors such as vibration and skidding.