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Omnidirectional robot simulation

asked 2015-03-04 09:58:03 -0500

avidbot1 gravatar image

I have a kiwi drive robot I'd like to simulate in gazebo. As I haven't found a way to simulate omni wheels I've tried modelling the base off of the pr2, which achieves omnidirectional movement by mounting all of its wheels on casters. The rotation of the casters on the pr2 is controlled with a pid controller, which means to go from translating in x to translating in y there is a delay while the casters change the wheel direction. I'd like to avoid this delay in the simulation since the kiwi drive will not experience this delay. So my questions:

1) Is there a more direct way of simulating omni wheels or an omnidirectional robot that does not need to wait for the wheels to turn?

2) Is there a way to have the casters move immediately to the desired angle rather than wait while they are turned by a pid controller?

Thanks

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answered 2015-03-04 10:37:50 -0500

nkoenig gravatar image

You could create a model of the omni-wheel. It looks like a cylinder with a few passive cylinders would work. This would require a bit of work, especially when tuning the various model parameters.

You could also fake the desired behavior by creating a low-friction base, and then apply forces directly to the robot. The effect would be more like a hover craft however.

You could create a wheel that consists of two cylinders that overlap, but with a 90 degree rotation offset. One of the cylinders would be controlled, and one passive.

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answered 2017-04-19 21:06:58 -0500

winston gravatar image

You could check out this link. It is a Gazebo simulation for omnidirectional soccer-playing robots. Basically, as Nate said, I faked the desired behavior by applying velocities directly to the robot. However, I still would like to try to create a realistic omnidirectional wheels in the future.

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Asked: 2015-03-04 09:58:03 -0500

Seen: 643 times

Last updated: Apr 19

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