Implementation of Three Wheeled Omnidirectional Kinematics on Soccer Robot

EasyChair Preprint 14638

Abstract

Omnidirectional three-wheeled soccer robots have become a focal point in robotics development for sports competitions. Understanding the kinematics of these robots is crucial for achieving efficient movement on the field, leveraging omnidirectional wheels to enable more flexible and precise maneuvers. The three-wheeled omnidirectional configuration, where each wheel can rotate independently, allows the robot to move in any direction without changing its body orientation. This study explores the kinematic model of the three-wheeled omnidirectional robot, including the mathematical formulation of the relationship between wheel speeds and the robot's linear and angular velocities. Additionally, the research delves into practical implementations of the kinematic model in robot control, including control techniques needed to enhance stability and responsiveness during matches. The findings offer valuable insights into the design and development of soccer robots with three-wheeled omnidirectional kinematics and highlight the potential for improving performance and strategy in competitions.

Keyphrases: control, kinematic, robot

@booklet{EasyChair:14638,
  author    = {Aditya Nugraha Putra and Novendra Setyawan and Nur Alif Mardiyah},
  title     = {Implementation of Three Wheeled Omnidirectional Kinematics on Soccer Robot},
  howpublished = {EasyChair Preprint 14638},
  year      = {EasyChair, 2024}}