Omnidirectional platform control and displacement characterization

The article shows an omnidirectional mobile platform control using the PWM technique for mobile robot applications like service robots. Characterization methodology to obtain information of the real operation for platform omnidirectional displacements are shown. Implementation with a commercial mechanical platform to be used as the vehicle as well as the used components are described in order to be a base knowledge to obtain refinement methods to improve control. Real measurements with the vehicle are documented. The article has the intention to prove motion of mobile omnidirectional platforms can use a PWM control model implemented in hardware electronic devices as an Arduino microcontroller to get enough precision and efficient performance as some other model do, but having fast processing.