title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼ Ð½Ð° Ð²ÑÐµÐ½Ð°Ð¿ÑÐ°Ð²Ð»ÐµÐ½Ð½ÑÑ ÐºÐ¾Ð»ÐµÑÐ°Ñ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Development of a control system for a robot on omnidirectional wheels
Creators: name: ÐÐ°ÑÐ¸Ð¿Ð¾Ð²Ð°, ÐÑÐ»ÑÐ·Ð¸ÑÐ°
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2023
Subjects: ÑÐ¾Ð±Ð¾Ñ
Ð²ÑÐµÐ½Ð°Ð¿ÑÐ°Ð²Ð»ÐµÐ½Ð½ÑÐµ ÐºÐ¾Ð»ÐµÑÐ°
Ð¼ÐµÐºÐ°Ð½ÑÐ¼ ÐºÐ¾Ð»ÐµÑÐ°
CoppeliaSim
ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
Ð¼Ð¾Ð¼ÐµÐ½Ñ Ð¸Ð½ÐµÑÑÐ¸Ð¸
robot
omnidirectional wheels
mecanum wheel
control system
moment of inertia

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¾Ð±Ð¾ÑÐ° Ð½Ð° Ð²ÑÐµÐ½Ð°Ð¿ÑÐ°Ð²Ð»ÐµÐ½Ð½ÑÑÂ  ÐºÐ¾Ð»ÐµÑÐ°Ñ, Ð¿ÑÐµÐ´Ð½Ð°Ð·Ð½Ð°ÑÐµÐ½Ð½Ð¾Ð³Ð¾ Ð´Ð»Ñ Ð²ÐµÐ´ÐµÐ½Ð¸Ñ ÑÐ°Ð±Ð¾Ñ Ð² ÑÐºÐ»Ð°Ð´ÑÐºÐ¸Ñ Ð¿Ð¾Ð¼ÐµÑÐµÐ½Ð¸ÑÑ Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ, Ð¾Ð±ÐµÑÐ¿ÐµÑÐ¸Ð²Ð°ÑÑÐµÐ¹ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ðµ Ðº Ð·Ð°Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ¾ÑÐºÐµ Ð¿Ð¾ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸. ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ: 1. ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¿ÑÐµÐ´Ð¼ÐµÑÐ½Ð¾Ð¹ Ð¾Ð±Ð»Ð°ÑÑÐ¸. 2. ÐÐ½Ð°Ð»Ð¸Ð· ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½ÑÑ Ð¿Ð°ÐºÐµÑÐ¾Ð² Ð´Ð»Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ. 3. Ð¡Ð¾Ð·Ð´Ð°Ð½Ð¸Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐµÑÑÑÐµÑÐºÐ¾Ð»ÐµÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð½Ð° Ð¼ÐµÐºÐ°Ð½ÑÐ¼ ÐºÐ¾Ð»ÐµÑÐ°Ñ. 4. ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð², Ð¾Ð±ÐµÑÐ¿ÐµÑÐ¸Ð²Ð°ÑÑÐ¸Ñ Ð¾Ð±ÑÐµÐ·Ð´ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸Ð¹. 5. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð´Ð»Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐµÑÑÑÐµÑÐºÐ¾Ð»ÐµÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð½Ð° Ð¼ÐµÐºÐ°Ð½ÑÐ¼ ÐºÐ¾Ð»ÐµÑÐ°Ñ. 6. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ðµ Ð²ÑÑÐ¸ÑÐ»Ð¸ÑÐµÐ»ÑÐ½ÑÑ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð² Ð¿Ð¾ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ° Ð½Ð° Ð¼ÐµÐºÐ°Ð½ÑÐ¼ ÐºÐ¾Ð»ÐµÑÐ°Ñ. Ð Ð¿ÑÐ¾ÑÐµÑÑÐµ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð° ÑÐ¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð° Ð¼Ð¾Ð´ÐµÐ»Ñ ÑÐµÑÑÑÐµÑÐºÐ¾Ð»ÐµÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð½Ð° Ð²ÑÐµÐ½Ð°Ð¿ÑÐ°Ð²Ð»ÐµÐ½Ð½ÑÑ ÐºÐ¾Ð»ÐµÑÐ°Ñ. ÐÑÐ»Ð¸ Ð¸Ð·ÑÑÐµÐ½Ñ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ñ ÑÐ°Ð±Ð¾ÑÑ Ð³Ð¸ÑÐ¾ÑÐºÐ¾Ð¿Ð°, Ð´Ð°ÑÑÐ¸ÐºÐ¾Ð² Ð¿ÑÐ¸Ð±Ð»Ð¸Ð¶ÐµÐ½Ð¸Ñ. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ, ÑÐ¾Ð±Ð¾Ñ Ð±ÑÐ» Ð¿ÑÐ¾ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½ Ð² ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ ÑÑÐ»Ð¾Ð²Ð¸ÑÑ Ð¸ ÑÐ°Ð·Ð½ÑÐ¼Ð¸ Ð½Ð°Ð³ÑÑÐ·ÐºÐ°Ð¼Ð¸.
description: This given work is devoted to the creation of a model of a robot on omnidirectional wheels designed to work in warehouses and the development of a control system that provides movement to a given point along the trajectory. Tasks that were solved in the work: 1. Research of the subject area. 2. Analysis of existing software packages for modeling. 3. Creation of a model of a four-wheeled robot on mecanium wheels. 4. Research of algorithms that provide obstacle avoidance. 5. Development of a control algorithm for a model of a four-wheeled robot on mecanium wheels. 6. Conducting computational experiments on the study of a robot on mecanium wheels. In the course of the work, a model of a four-wheeled robot on omnidirectional wheels was designed. The principles of operation of a gyroscope and proximity sensors are considered. A control system was developed, the robot has been tested in various conditions and with different loads.