Rancang Bangun Smart Robot Omni Wheel sebagai Permainan Edukatif dan Interaktif bagi Balita

The paper considers the principles of intelligent motion control of mobile robots using the example of omni-wheel modules. The proposed design solution uses components of movement intelligence in any direction, receiving commands from a human operator or above a standing automatic control device, consisting of an angle of movement direction and the required distance of movement. This paper presents an embodiment of using omni-wheels to move a mobile robot over a flat surface. Features of device and application of drive with three omni-wheels in comparison with differential drive are considered. Kinematics, basic principles of motion control formation, hardware and software complex for its implementation are described. There were revealed two alternative methods of organization of drive control in conditions of shortage of low-level hardware resources on the basis of 8-bit microcontroller, their advantages and disadvantages have been analyzed. Process support and materials have been presented that allows realizing the competitive advantages of development while minimizing the cost of components. Features of mobile robot travel route development have been mentioned on the example of competitive practice.

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Non-linear control for a group of omni wheel robots

Seventh International Conference on Advances in Mechanical and Robotics Engineering AMRE 2018 ◽

10.15224/978-1-63248-159-7-18 ◽

2018 ◽

Author(s):

Andrey A ◽

Gennady E

Keyword(s):

Linear Control ◽

Non Linear ◽

Omni Wheel

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PERANCANGAN SISTEM DETEKSI OBJEK PADA ROBOT KRSBI BERBASIS MINI PC RASPBERRY PI 3

Jurnal Teknologi Informasi dan Pendidikan ◽

10.24036/tip.v12i1.177 ◽

2019 ◽

Vol 12 (1) ◽

pp. 56-64

Author(s):

Ilfan Sugianda ◽

Thamrin Thamrin

Keyword(s):

Image Processing ◽

Image Data ◽

Raspberry Pi ◽

Process Data ◽

Single Board Computer ◽

Object Based ◽

Football Match ◽

Omni Wheel ◽

Python Programming ◽

Camera Sensor

KRSBI Wheeled is One of the competitions on the Indonesian Robot Contest,. It is a football match that plays 3 robot full autonomous versus other teams. The robot uses a drive in the form of wheels that are controlled in such a way, to be able to do the work the robot uses a camera sensor mounted on the front of the robot, while for movement in the paper author uses 3 omni wheel so the robot can move in all directions to make it easier towards the ball object. For the purposes of image processing and input and output processing the author uses a Single Board Computer Raspberry PI 3 are programmed using the Python programming language with OpenCV image processing library, to optimize the work of Single Board Computer(SBC) Raspberry PI 3 Mini PC assisted by the Microcontroller Arduino Mega 2560. Both devices are connected serially via the USB port. Raspberry PI will process the image data obtained webcam camera input. Next, If the ball object can be detected the object's position coordinates will be encoded in character and sent to the Microcontroller Arduino Mega 2560. Furthermore, Arduino mega 2560 will process data to drive the motors so that can move towards the position of the ball object. Based on the data from the maximum distance test results that can be read by the camera sensor to be able to detect a ball object is �5 meters with a maximum viewing angle of 120 �.

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