Design of omni directional mobile robot (O3-X) control

This thesis deals with the design of a three-wheeled omni-directional robot control. The model of control is designed for robot´s omni-directional platform driven by maxon motor with the intelligent positioning controller EPOS. The design of control contains: - installation of the coordinated systems and transformation from one of them into another - design of system´s kinematical model - creation of classes for control and communication with EPOS - creation of the simulative program - planning of the mobile robot´s path - verification that the system is working The solution was based on continuous accelerated motion and the maximal acceleration of wheels was concerned, so that the slip would be suppressed. The function of the model was partly verified