Development of Heading Lock and Inverse Kinematics for an Unequal Degree Holonomic Transporter Robot

Internet of Things (IoT) technology is the optimal method for transporting products in a cyber-physical system (CPS) to accomplish Industry 4.0 solutions for the moving of mechatronic components in manufacturing facilities. Hence, the transporter robot communicates with all other manufacturing process tools in order to accept and execute any tasks. The omnidirectional mobile vehicle has proven that it performs better in crowded environments and confined aisles. The use of omnidirectional wheels provides simplifications compared to previous mobile robot architectures, which makes the proposed architecture more effective for mobility. Transport area restrictions in the manufacturing line require the development of a reliable and efficient robot transporter. To accomplish space efficiency, we propose a holonomic omnidirectional wheeled transporter robot platform with an unequal offset degree. The DC brushless motor position is adjusted to ensure the transporter robot is able to move in balance. The effectiveness was tested through experiments using a transporter robot platform prototype that generates a minimum error in heading and orientation about 2.2%.