Improvement of three wheel omni directional robot
This thesis project is about to improve the system of omni-directional robot, ART-1X. Some improvements are made to the robot in mechanical configuration, electronics, and control system. The implementation of new actuator, geared dc motor with encoder, required modifications in mechanical construction. The application of closed loop control system on the actuator improves the accuracy of each wheel. An independent power supply of 24 V is stepped down to 5 V by using a voltage regulator, in order to provide the voltage input for the electronics. The motherboard that was used for the control system in ART-1X is replaced by Raspberry-pi and ATMega2560. In this thesis project, the mobile robot is designed to be able to move to 8 different directions and to be remotely controlled. Control system using a Raspberry-pi is in purpose of exploring the usage of this new computer board and applying the Raspberry-pi in robotic field.
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