Issue

Vol. 9, No. 3, August 2024

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

Kinematic of 3-Wheels Swerve Drive Using BLDC Motor

https://doi.org/10.22219/kinetik.v9i3.1995
Arif Anwar Rosyidin
Politeknik Negeri Malang
Indrazno Siradjuddin
Politeknik Negeri Malang
Ratna Ika Putri
Politeknik Negeri Malang
Mas Nurul Achmadiah
Politeknik Negeri Malang

Corresponding Author(s) : Mas Nurul Achmadiah

masnurul@polinema.ac.id

Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control, Vol. 9, No. 3, August 2024

Abstract

The stability of the robot's performance is very important, especially for the wheeled mobile robots that use swerve drives, which need kinematic control to reach the destination point. The study of robot movement known as kinematics is based on an examination of the geometric structure of the robot, with no consideration given to the mass, force, or acceleration that the robot experiences during movement. This study aims to model and simulate the kinematic control design of a wheeled robot that uses a swerve drive. This robot uses BLDC motor actuator so that the robot can reach its destination very quickly and steadily. The test is carried out by simulating and comparing the performance response using BLDC motors and DC motors. According to the testing and trials, the robot can reach its destination by modeling its kinematic control, and BLDC motors are found to be more reliable and efficient for driving and steering than DC motors.

Keywords

Wheeled mobile robot Kinematic Swerve drive BLDC motor
Rosyidin, A. A., Siradjuddin, I., Putri, R. I. ., & Achmadiah, M. N. (2024). Kinematic of 3-Wheels Swerve Drive Using BLDC Motor. Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control, 9(3), 297-306. https://doi.org/10.22219/kinetik.v9i3.1995
Download Citation
Endnote/Zotero/Mendeley (RIS)
BibTeX
References
  1. D. Rijalusalam and I. Iswanto, “Implementation Kinematics Modeling and Odometry of Four Omni Wheel Mobile Robot on The Trajectory Planning and Motion Control Based Microcontroller,” Journal of Robotics and Control (JRC), vol. 2, Jan. 2021. https://doi.org/10.18196/jrc.25121
  2. S. Rossi, M. Staffa, and A. Tamburro, “Correction to: Socially Assistive Robot for Providing Recommendations: Comparing a Humanoid Robot with a Mobile Application,” Int J Soc Robot, vol. 11, p. 1, Jan. 2019. https://doi.org/10.1007/s12369-018-0489-0
  3. N. Ghobadi and S. F. Dehkordi, “Dynamic modeling and sliding mode control of a wheeled mobile robot assuming lateral and longitudinal slip of wheels,” in 2019 7th International Conference on Robotics and Mechatronics (ICRoM), Nov. 2019, pp. 150–155. https://doi.org/10.1109/ICRoM48714.2019.9071913
  4. A. Sofwan, H. R. Mulyana, H. Afrisal, and A. Goni, “Development of Omni-Wheeled Mobile Robot Based-on Inverse Kinematics and Odometry,” in 2019 6th International Conference on Information Technology, Computer and Electrical Engineering (ICITACEE), 2019, pp. 1–6. https://doi.org/10.1109/ICITACEE.2019.8904418
  5. I. Reguii, I. Hassani, and C. Rekik, “Mobile Robot Navigation Using Planning Algorithm and Sliding Mode Control in a Cluttered Environment,” Journal of Robotics and Control (JRC), vol. 3, no. 2, pp. 166–175, 2022. https://doi.org/10.18196/jrc.v3i2.13765
  6. D. and B. F. and P. J. I. Yunardi Riky Tri and Arifianto, “Holonomic implementation of three wheels omnidirectional mobile robot using DC motors,” Journal of Robotics and Control (JRC), vol. 2, pp. 65–71, 2021. https://doi.org/10.18196/jrc.2254
  7. H. Taheri and C. X. Zhao, “Omnidirectional mobile robots, mechanisms and navigation approaches,” Mech Mach Theory, vol. 153, p. 103958, 2020. https://doi.org/10.1016/j.mechmachtheory.2020.103958
  8. M. Achmadiah, A. Rosyidin, A. Pracoyo, I. Siradjuddin, D. Permatasari, and G. Azhar, “Desain permodelan dan simulasi Field Oriented Control (FOC) menggunakan motor BLDC: Aplikasi pada Drive Train - Swerve Drive,” Jurnal Elektronika dan Otomasi Industri, vol. 10, pp. 361–368, Jun. 2023. https://doi.org/10.33795/elkolind.v10i3.4416
  9. X. Zhang, Y. Xie, L. Jiang, G. Li, J. Meng, and Y. Huang, “Trajectory Tracking of a 4wis4wid Robot Using Adaptive Receding Horizon Control Based on Neurodynamics Optimization,” in 2019 ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2019, pp. 565–570. https://doi.org/10.1109/AIM.2019.8868381
  10. I. Hassani, I. Maalej, and C. Rekik, “Backstepping tracking control for nonholonomic mobile robot,” in 2020 4th International Conference on Advanced Systems and Emergent Technologies (ICASET), 2020, pp. 63–68. https://doi.org/10.1109/IC_ASET49463.2020.9318221
  11. P. Lin, D. Liu, D. Yang, Q. Zou, Y. Du, and M. Cong, “Calibration for Odometry of Omnidirectional Mobile Robots Based on Kinematic Correction,” in 2019 14th International Conference on Computer Science I& Education (ICCSE), 2019, pp. 139–144. https://doi.org/10.1109/ICCSE.2019.8845402
  12. C. Wang, X. Liu, X. Yang, F. Hu, A. Jiang, and C. Yang, “Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy,” Applied Sciences, vol. 8, p. 231, Feb. 2018. https://doi.org/10.3390/app8020231
  13. H. Ye, D. Wang, J. Wu, Y. Yue, and Y. Zhou, “Forward and inverse kinematics of a 5-DOF hybrid robot for composite material machining,” Robot Comput Integr Manuf, vol. 65, p. 101961, 2020. https://doi.org/10.1016/j.rcim.2020.101961
  14. V. N. Kadam, L. Vachhani, and A. Gupta, “Control of an Omnidirectional Mobile Base with Multiple Spherical Robots,” in 2019 Sixth Indian Control Conference (ICC), 2019, pp. 350–355. https://doi.org/10.1109/ICC47138.2019.9123198
  15. T. Dewi, S. Nurmaini, P. Risma, Y. Oktarina, and M. Roriz, “Inverse kinematic analysis of 4 DOF pick and place arm robot manipulator using fuzzy logic controller,” International Journal of Electrical and Computer Engineering (IJECE), vol. 10, pp. 1376–1386, Apr. 2020. https://doi.org/10.11591/ijece.v10i2.pp1376-1386
  16. M. Shamseldin, “Optimal Covid-19 Based PD/PID Cascaded Tracking Control for Robot Arm driven by BLDC Motor,” WSEAS Transactions on Systems, vol. 20, pp. 217–227, Aug. 2021. https://doi.org/10.37394/23202.2021.20.24
  17. M. Dasari, S. A, and M. Kumar, “Modeling of a commercial BLDC motor and control using GA-ANFIS tuned PID controller,” in 2017 International Conference on Innovative Research In Electrical Sciences (IICIRES), Jun. 2017, pp. 1–6. https://doi.org/10.1109/IICIRES.2017.8078305
  18. D. Mohanraj et al., “A Review of BLDC Motor: State of Art, Advanced Control Techniques, and Applications,” IEEE Access, vol. 10, pp. 54833–54869, 2022. https://doi.org/10.1109/ACCESS.2022.3175011
  19. M. Mary et al., “Fuzzy PI Control of Trapezoidal Back EMF Brushless DC Motor Drive Based on the Position Control Optimization Technique,” Math Probl Eng, vol. 2022, pp. 1–14, Jul. 2022. https://doi.org/10.1155/2022/4605449
  20. S. Nahar, Md. R. Ahmed, and Md. A. Rahman, “Performance Analysis of BLDC Motor using an Improved Methodology,” in 2020 IEEE Region 10 Symposium (TENSYMP), 2020, pp. 586–589. https://doi.org/10.1109/TENSYMP50017.2020.9231024
  21. M. Mahmud, M. R. Islam, S. M. A. Motakabber, M. D. A. Satter, K. E. Afroz, and A. K. M. Ahasan Habib, “Control Speed of BLDC Motor using PID,” in 2022 IEEE 18th International Colloquium on Signal Processing & Applications (CSPA), 2022, pp. 150–154. https://doi.org/10.1109/CSPA55076.2022.9782030
  22. H. Chang, S. Wang, and P. Sun, “Omniwheel Touchdown Characteristics and Adaptive Saturated Control for a Human Support Robot,” IEEE Access, vol. 6, pp. 51174–51186, 2018. https://doi.org/10.1109/ACCESS.2018.2869836
  23. X. Liu et al., “MPC-based high-speed trajectory tracking for 4WIS robot,” ISA Trans, vol. 123, pp. 413–424, Feb. 2022. https://doi.org/10.1016/j.isatra.2021.05.018
  24. E. M. Ijaabo, A. Alsharkawi, and A. R. Firdaus, “Trajectory Tracking of an Omnidirectional Mobile Robot Using Sliding Mode Control,” in 2019 2nd International Conference on Applied Engineering (ICAE), 2019, pp. 1–6. https://doi.org/10.1109/ICAE47758.2019.9221818
  25. Y. Luan, H. Wang, X. Li, W. Xu, R. Huang, and J. Lv, “Design of Motion Control System for Omnidirectional Four-Drive Mobile Robot,” in 2019 IEEE 8th Joint International Information Technology and Artificial Intelligence Conference (ITAIC), 2019, pp. 1409–1413. https://doi.org/10.1109/ITAIC.2019.8785450
  26. K. Vanchinathan, K. R. Valluvan, C. Gnanavel, and C. Gokul, “Design Methodology and Experimental Verification of Intelligent Speed Controllers for Sensorless Permanent Magnet Brushless DC Motor,” International Transactions on Electrical Energy Systems, Jun. 2021. https://doi.org/10.1002/2050-7038.12991
  27. M. Kelek, I. Çelik, U. Fidan, and Y. Oğuz, “The Simulation of Mathematical Model of Outer Rotor BLDC Motor,” in 4th International Symposium on Innovative Approaches in Engineering and Natural Sciences, Samsun, Turkey, Nov. 2019. https://doi.org/10.36287/setsci.4.6.106
  28. S. Trefilov, “Non-linear discrete model of BLDC motor for studying the range of permissible values of the voltage vector in the state space,” MATEC Web of Conferences, vol. 329, p. 3070, Jan. 2020. https://doi.org/10.1051/matecconf/202032903070
  29. B. Hekimoğlu, “Optimal Tuning of Fractional Order PID Controller for DC Motor Speed Control via Chaotic Atom Search Optimization Algorithm,” IEEE Access, vol. 7, pp. 38100–38114, 2019. https://doi.org/10.1109/ACCESS.2019.2905961
Read More
Author biographies is not available.
Download this PDF file
PDF
Statistic
Read Counter : 0 Download : 3

Downloads

Download data is not yet available.