Desenvolvimento de um robô móvel omnidirecional com controle cinemático

Abstract

Currently, mobile robotics presents, both in terms of market and as an area of study, a tendency of increasing relevance in the coming years. One of the recurring issues in this field is mobility, since in several environments, including industrial ones, limitations of space for machine movement are frequent. In this context, omnidirectional robots, defined by the ability to move at any moment in any desired direction, gain prominence. With the aim of studying the topic and putting into practice knowledge related to robotics learned during the Mechanical Engineering undergraduate program, an omnidirectional terrestrial mobile robot with three degrees of freedom (three wheels/motors) was built. Using the Ziegler-Nichols method, the PID control of each motor was tuned using an Arduino Mega. With the kinematic modeling of the robot, two square-shaped trajectories were defined and executed in practical tests. The results are satisfactory, especially when compared to other similar projects in which motor speed control was used instead of position control, but they show the need to use a more complex control strategy, especially when the robot performs rotation around its own axis. By implementing this correction and adding a sensor for environment recognition, a mobile robot suitable for industrial transport applications or domestic cleaning tasks will be obtained, for example.