Three Wheeled Omnidirectional Robot : Motion Analysis
A Three-wheeled omnidirectional robot is capable to moving in any given direction without rotating by giving velocities to the three wheels in a certain ratio. All motors are situated at an angle of 120 degrees from each other. f B , f L , f R are for back , left and right wheel respectively. a x and a y are accelerations in X R and Y R axis in Robot frame and w is the angular velocity in Robot frame. Hence putting the values of alpha and making it into a matrix form we get : As we need to obtain the f values, we will invert the matrix. We need a x , a y and w is the world frame, so we apply transformation. The transformation angle is α 1 = 30 degrees. Putting this in the previous equation, Multiplying the two matrices, we get the final relation as : For example, if you want to move the robot along X axis(world frame), put a x W = 1 , ...