Dynamic control model of a cobot with three omni-wheels

In this paper, a new collaborative robot with omni-wheels has been proposed and its dynamic control has been developed and validated. Collaborative robots (Cobots) have been introduced to guide and assist human operators to move heavy objects in a given trajectory. Most of the existing cobots use steering wheels; typical drawbacks of using steering wheels include the difficulties to (i) follow a trajectory with a curvature larger than that of the base platform, (ii) mount encoders on steering wheels due to self-spinning of the wheels, and (iii) quarantine dynamic control performance since it is purely kinematic control. The new collaborative robot is proposed to overcome the above-mentioned shortcomings. The methodologies for its dynamic control are focused and the simulation has been conducted to validate the control performance of the system.