![Creative Commons License](http://i.creativecommons.org/l/by-nc-sa/4.0/88x31.png)
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
Kinematic of 3-Wheels Swerve Drive Using BLDC Motor
Corresponding Author(s) : Mas Nurul Achmadiah
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
Download Citation
Endnote/Zotero/Mendeley (RIS)BibTeX
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
References
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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