Reasearch And Developing Of Motion Control Sys On Omni-Directional Soccer Tobot

Omni-directional soccer robot can moves in different directions without changing its posture. Due to the special motion advantage, more and more people pay their attention to it, especial in the mid-size robot completion. Now, Omni-direction mobile robot has become the main kind robot in the completion.As a strong team in China, Jiao Long started to do the research and developing on Omni-directional robot in 2005. So far, we developed three kind Omni-directional robot. In this research, the following points are mainly included.First of all, motion control model of the system was built through Kinematic analysis and Dynamic analysis. And the adverse factors were pointed out.Second, because the collision among the robots happened frequently, any adverse factor was possible in the completion. Accord to this, I built a Coordinated control model. And It was proved that the control method was effective in control system by Matlab Simulation..Finally, robot's system design was introduced, including hard ware design and software design. And experiment was done in the lab. Through the date analysis of the experiment, it was proved that the robot's motion control performance was really improved.