ABSTRACT
ABSTRACT: In recent years, the use of omnidirectional mobile robot has become a bright spot in the logistics scheme of equipment manufacturing industry. It has played a certain role in improving production efficiency, reducing costs, and improving product quality and management level. However, its application is limited due to its low flexibility, low efficiency, and difficulty of operation in complex environment. In order to realize the flexibility and maneuverability of this type of movement, the mobile structure and motion control system are designed. The structure design used mecanum wheel as its moving wheel. Its control system design used dSPACE real-time simulation and control platform, dSPACE simulation, and MATLAB/Simulink perfect combination. Through the establishment of the simulation model, the motor speed characteristics of the motor were tested. Therefore, it can realize the design and debugging of control system. The experiment shows that the control effect of dSPACE real-time simulation platform is good. The control system model can be built conveniently and quickly, and the development period of the control system can be shortened simultaneously.
