| Author | Paudel, Shiva |
| Note | A thesis submitted in partial fulfillment of the requirements for the
degree of Master of Engineering in Mechatronic |
| Publisher | Asian Institute of Technology |
| Abstract | We have establish a methodology for omnidirectional pushing and pulling force control of omnidirectional wheeled mobile robot. Being able to control pulling, pushing force of any mobile robot makes any mobile robot platform more sensitive to assigned task. In this paper, we apply sensorless pulling, pushing force control system for the omniwheeled (Mecanum Wheeled) mobile robot. The system is capable of controlling force in any required direction by calculation combination torques in each wheel of mobile platform. To perfectly estimate the required wheel torque in relation to commanded force in global xy-plane, a relation between wheel traction force and forward driving force of robot body was purposed. The torque in driving wheel was measured using reaction torque observer. Driving motors internal disturbances were compensated using internal disturbance observer loop in the system.The purposed method of force controlling in omnidirectional wheeled mobile robot was practically verified with a Mecanum wheeled mobile platform. The demonstration of controlled force was done using external force sensor. Results from external sensor suggest the applicability of the purposed method. In another work we demonstrate a way of determining wheel misalignment without using any sensor or mechanism on wheeled mobile robot. Almost all the commercial electrical automobile running in the street use several combination of sensors just to determine whether the wheel are flat, abnormally cambered and toed in or out. our purposed methodology is capable of finding out those abnormality by utilizing Disturbance Observer along with Reaction Torque Observer(RTOB). Wheel mobile was planned to run on a straight line with a constant velocity and RTOB output was plotted against position/time. The torque profile of normal wheel was taken as idle output and RTOB. If there happens to be any wheel misalignment and flatness the average wheel torque required will be increase. The increase wheel torque can notify that there is some problem in the wheel that is taking the abnormal torque. Wheeld mobile robot was built in our laboratory and Practical demonstration is put forward. Results suggested the applicability of this method. |
| Year | 2019 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Abeykoon, A. M. Harsha S.; |
| Examination Committee(s) | Manukid Parnichkun;Nakamura, Tai; |
| Scholarship Donor(s) | AIT-Fellowship; |
| Degree | Thesis (M. Eng.) -- Asian Institute of Technology, 2019 |