EMJ47603 Autonomous Mobile Robots Assignment

You are required to develop an omnidirectional mobile robot using three omni-wheels as  shown in Figure 1. Solve the following: 

(1) Construct the forward and inverse kinematics equations of the mobile robot with  respect to the world coordinate frame, ?O. Assume that: 

(2) Based on kinematics and appropriate diagrams, prove that the mobile robot is a  holonomic mobile robot. 

(3) Construct the wheel’s angular velocities vs time graph if the following tasks need  to be completed in sequence. Given that D = 270 mm and the diameter of the  wheel is 100 mm.

(4) Plot the estimated robot’s trajectory and find the final pose (position and  orientation) if given the initial pose is (0 m, 0 m, 0 deg).