Cheatham, John B., Jr.2009-06-042009-06-041989Adnan, Sarmad. "Kinematic analysis and trajectory control of the Rice omni-directional mobile robot (Rice University, Texas)." (1989) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/13337">https://hdl.handle.net/1911/13337</a>.https://hdl.handle.net/1911/13337The forward/inverse kinematics, trajectory planning and control system for a mobile omni-directional robot are analyzed and implemented. For kinematic analysis each wheel of the robot has been modeled as a "higher pair" joint. Both the forward and inverse kinematic solutions of the robot are dealt with. The trajectory planning for the robot is done on two levels, a global robot trajectory and individual wheel trajectories. A simple, Linear Segment with Parabolic Blends, trajectory is used on the local, wheel level. On the global level the robot can be made to move along higher order trajectories. A PID control system for the robot is implemented for this purpose. Using a hierarchical control scheme the wheel encoder feedback is converted to global motion feedback. This control scheme does not account for wheel slippage.122 p.application/pdfengCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.Mechanical engineeringElectronicsElectrical engineeringThesisTHESIS M.E. 1989 ADNAN