摘要：An omnidirectional mobile robot configuration isa promising mobile robot technology in the future, since ithas holonomic properties, where the motion constraints is onlylimited in the robot actuator space. In the two dimensionaltask space, the omnidirectional robot is able to move in anyconfiguration. This omnidirectional motion ability is primarilycaused by the mechanism of the robot wheels. Two mostcommonly used wheel technologies are omni and mecanumwheels. Indeed, many literatures and studies are availablein developing the kinematic model, however the presentedkinematic models were developed based on the specific cases.For control engineers, this may be the issue where the kinematicdevelopment has to be formulated from scratch to meet theirown robot specification. Therefore, it is important to have a general framework for developing the omnidirectional kinematicmodel. This work presents a generic kinematic formulation tomodel omnidirectional mobile robot using omni and mecanumwheel types. The formulation can be used for any number ofrobot wheel configuration. In this paper, three omnidirectionalrobot platform configurations: three omni-wheels robot, fourmecanum-wheels robot and six omni-wheels robot have beenchosen for discussion to demonstrate the developed generickinematic formulation. Additionally, this work also proposestwo control schemes for controlling the robot motion: anexponential decreased error tracking algorithm (so called asthe model based control scheme) and a Proportional-Integral(P-I) control scheme. The state space formulation has also beenexposed to validate the controllability of the kinematic controlsystem. The performances of both control schemes have beensimulated and analysed for two cases of robot tracking application: a static and a moving target. The performances havebeen measured in terms of robot posture in two dimensionalspace, robot control signals and the error signals trajectories.The controller gains have been manually chosen by trial anderror. The simulation results have demonstrated satisfactoryperformances of the developed generic kinematic formulationand control schemes. The derived control schemes guaranteesan exponential decrease of the error.
