ON MODELING THE CONTROL STRUCTURE OF THE OMNI-DIRECTIONAL MOBILE ROBO
Nowadays, requirements to modeling and researching self-directed robotic systems are extremely high. In order to improve maneuverability and control efficiency, new mobile robots with omni-wheels are developed. Such robots are able to move in either direction without turning around. They have these features due to the fact of increase of construction and control rules complexity. Three- and four-wheeled mobile robots with roller-carrying wheels have become more widespread. The article deals with the problem of theoretical control establishing to provide arbitrary program motion of three-wheeled robots with omni-wheels. The computer model of valid control efficiency analysis was developed. For developing this model,.the numerical modeling method that turns the continuous model into the corresponding numerical one was used. Practical application of the introduced stabilizing control algorithm for mechanical systems was demonstrated by the example of three-wheeled robot motion stabilization.