Omni-directional Mobile Platform Based On Mecanum Wheel

In recent years,with the advancement of science and technology,the mobile platform has shown an increasingly important position and role in all aspects of social production and life,and its application has become more and more extensive.As a member of the wheeled robot,Omnidirectional Mobile Robots(OMRs)have great advantages in terms of motion performance due to their special wheel structure.Compared to traditional wheeled robots,OMRs have a higher degree of freedom of movement.As a fully constrained robot,OMRs are capable of simultaneous rotational motion while translational.This makes OMRs particularly suitable for working in environments where space is at a premium,such as hospitals,warehouses,etc.First of all,this paper builds an independently designed OMRs system,completes the construction of mechanical structure and the design of hardware circuits.Based on the self-constructed OMRs system,the kinematics and dynamics models were deducted.The dynamic model based on the average base radius strategy is deduced and the discontinuous change system is continuous.Secondly,based on the successful establishment of the model,a model-based controller is designed to decompose acceleration control(RAC).The RAC control takes into account the unmodeled dynamics of the system and the system characteristics that the model parameters cannot accurately acquire.The RAC control method established by simulation and experimental analysis satisfies the control system of this paper.Through experiments,it is found that the model-based control method requires a lot of work to build the model and calibrate the model parameters.In addition,model errors necessarily introduce control errors.Therefore,an improved model Free Adaptive Control(MFAC)method based on the partial format dynamic linearization method for the OMRs system based on the system input and output data is designed.The controller has the advantages of no dependence on model information,simple structure,easy controller design,convenient parameter adjustment,small calculation amount and strong robustness,and has high application value.Finally,the effectiveness.Finally,According to the control system scheme,the physical experiment prototype was built and the experimental research was carried out.The global trajectory tracking control experiment was carried out,and the feasibility of the designed controller was verified based on the experimental prototype.