Design and Control for Trajectory Tracking of Three-Wheeled Mecanum Omnidirectional Kiwi-Robot

Abstract

This work presents the design and construction of a three-wheeled mecanum omnidirectional mobile robot. The structural components, including the wheels, were modeled in SolidWorks and fabricated using 3D printing technology. A hexagonal chassis configuration was implemented to ensure structural stability and optimal weight distribution. Regarding the electronics, a custom circuit was developed for the independent control of three DC motors. The software architecture comprises tailored algorithms designed for specific operational tasks, featuring a core program capable of executing eight distinct omnidirectional movement actions, detailed through a block diagram and pseudocode. The overall stability of the kiwi-robot is highly dependent on the real-time coordination of operational speeds, planned trajectories, and orientation angles. Additionally, proper motor torque management, coupled with digital signal conditioning, is essential to achieve a robust and stable control system. Finally, the robot was programmed to track complex trajectories guided by mathematical formulations. Consequently, geometric figures such as a circle, an astroid, and a Bernoulli lemniscate were successfully generated. The experimental results and continuous-path graphs demonstrate a high-performance evaluation of the integrated system.