Architecture Control and Model Identification of a Omni-Directional Mobile Robot

This paper presents an architecture control and model identification of an omni-directional mobile robot. It is divided into the three stages. Stage one proposes a procedure for dynamic model identification and control of the "motor + reduction + encoder" process of the robot\´s motors. Second, proposes the identification of a dynamic model for the whole mobile robot considering it as a multi-variable system. Third, presents an algorithm for perfect trajectory tracking of omni-directional mobile robots, based on restriction on motor\´s velocities. This algorithm combines the restriction on motor\´s velocities and the kinematic model of mobile robot to generate ideal drive velocities for the mobile robot to follow the trajectories correctly with the best possible performance