Download PDFOpen PDF in browserModelling, Design and Control of a Four wheel Holonomic DriveEasyChair Preprint 20756 pages•Date: December 1, 2019AbstractThis paper tries to model a four wheel holonomic drive and it describes the design of the drive system. After deriving the kinematic model, the encoder and the gyroscope equations are used for position and orientation feedbacks respectively. This drive is designed using various selection criterion for microcontroller, motors, motor drivers and sensors. Furthermore, it is controlled using deduced reckoning algorithm and a continuously running PID is applied to keep the errors in check. Also, the ideal velocity vs time curve is discussed in the paper to achieve the desired outcome in minimum possible time. Keyphrases: Deduced Reckoning, Gyroscope, Holonomic Drive, PID controller, Rotary Encoders, Velocity Planning, kinematic model
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