Omni Directional Control Algorithm For Mecanum Wheel

Mohamad Zufri, Abd Rahman (2014) Omni Directional Control Algorithm For Mecanum Wheel. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) Omni Directional Control Algorithm For Mecanum Wheel 24 Pages.pdf - Submitted Version Download (770kB)

Abstract

The purpose of this project is to create an algorithm for controlling the speed of Mecanum wheels mounted with DC Brushless motor installed at a robot chassis, so it can be control to move at any desired angle ranging from 0° until 360° without changing the direction faced by the robot. A robot attached which use the Mecanum wheels to move is called Mecanum Drive. The Mecanum drive is a combination of 4 units of Mecanum Wheels. This type of wheel is designed to perform direction change without using steering control. The Mecanum drive will change direction according to the wheels rotation speed and rotation direction. To do this, a special control algorithm is needed to manage all the variables involve for controlling the speed of the Mecanum drive. The main objective for developing this algorithm is to manipulate the speed and the direction input from robot operator to produce a Pulse Width Modulation, PWM, multiplier for each of DC Brushless motor equipped at the Mecanum Drive. The speed of each motor and the rotation direction of the motors are different. To ensure the motor is rotating at the right speed and the right direction, each of the motor revolution per minute, RPM, will be display using XCTU software which read input received from XBEE module. The calculation for motor RPM is done by translating the pulse send by motor driver into interrupt pin input of micro controller. For a complete 1 rotation, there will be 30 pulse received from motor driver. By using a simple equation to translate the pulse into rotation counting data, the RPM of each motor is stored in variables for each of the motor and transmit through XBEE module.

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