Localization / Odometry using omnidirectional wheels (or Killough Platform)

Hi,

I want to create a robot using a killough platform and keep track of its position so that I will travel a certain point and return back to its home. Is there any documentation on odometry, etc using a killough platform or omnidirectional wheels???

Thanks,

Ram

PS: Code will be great too!!!

Reply to
rmeenaks
Loading thread data ...

Hey, I just finished building one of those! My idea was to have a platform able to track a flashlight beam, keeping it centered in the center of a photodetector array. I gotta tell you, the motion is not straight line and smooth, in certain directions the small friction in the non-driven axes throws off the trajectory. I am running on carpet, you might do better on a smooth floor.

Anyway, if you know the direction of the commanded velocity, the individual motor commands are all K*sin(some combination of command vector angle and fixed motor axis angle). I also have C code written for an AVR processor, which uses 3 PWM signals for positive commanding, and 3 more for negative commanding.

The sensitivity of the motion to the commands means you will probably have to run your motors with closed loop feedback. I used home-made encoders. I tried open loop, but each motor has different friction characteristics.

Anyway, email me and I will dump more on you than you probably want.

Reply to
Mike Ross

PolyTech Forum website is not affiliated with any of the manufacturers or service providers discussed here. All logos and trade names are the property of their respective owners.