A study on friction modeling of omnidirectional mobile robot

[[abstract]]輪型機器人的輪子與地面接觸，摩擦力是不可避免地會伴隨發生，並會造成定位及軌跡追蹤誤差甚至使系統不穩定。是否可以建立一個輪型機器人的全方輪與地面摩擦力的動態模型來找出關鍵因素？ 本文內容藉由Robotino 機器人來做為實驗工具，於各種不同角度、相同速度移動的條件下來收集建立數據資料，再運用MATLAB 軟體來對其分析。根據摩擦力特性及全方向輪型機器人運動學方程式，來確立全方向輪的動態摩擦力模型。[[abstract]]The force of friction should be occurred when the wheel of mobile robot touched ground It will cause an error for positioning and the missing of trajectory tracking Even it makes system unstable Can we find out the key factors by building a dynamic modeling of the friction between the wheels of mobile robot and ground? This paper proposes to collect data under different angles and same speeds by using Robotino robot and to analyze them by Matlab software According as the analysis results of collected data we can get the dynamic model of omnidirectional mobile robot