Development of an omni-directional mobile robot | |
| Author | Rerngwut Choomuang |
| Call Number | AIT Thesis no.ISE-00-50 |
| Subject(s) | Robots--Motion Robots--Control systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-00-50 |
| Abstract | The purpose of this thesis is to develop an Omni-directional Mobile Robot. In order to achieve the stated purpose, an Omni-directional mobile robot with 4 Omni-directional wheel prototype is developed. The Omni-directional wheel is designed to have 4 Omni-directional wheel with 4 rotational actuator to achieve the motion flexibility. The stepper motor is preferred for actuation. The control architecture is specifically developed for the robot. It consists of 6 units, master controller base on PC, slave controller base on AT89C205 l microcontroller, interface circuit, stepper motor controller, stepper motor drive and piezo gyro sensor. The kinematics characteristic of the robot is their studied. The motion control algorithm is reduce the error during movement between two point without consideration of robot's path planning. |
| Year | 2000 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-00-50 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V.;Bohez, Erik L.J.; |
| Scholarship Donor(s) | Sripatum University; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2000 |