Workbench Control System Design Based on Mecanum Wheel

Abstract

Abstract The Mecanum wheel gains the particular interests in the field of robot, vehicle and workbench due to the capabilities of moving toward, sideway, rotation and combination of other motion pattern. This report details the progress of designing and building an omni-wheel robot control system which is controlled by Programmable Logic Controller (PLC) to achieve the ability of instantaneous motion in any direction with 4 coupled Mecanum wheels involved. A simulative control program has been developed to fulfill the function of line motion. Additionally, several advanced control methods have been reviewed, such as FPGA, NLP and TLC, which can be helpful in the future modification and improvement.