Abstract
Modern intelligent manufacturing systems are dynamic environments with the ability to respond and adapt to various internal and external changes that can occur during the manufacturing process. By default, they imply efficient, reliable, and flexible material handling and transportation system, which can be effectively realized by using intelligent mobile robots. In order to achieve locomotion of an intelligent mobile robot that will minimize the usage of space within the manufacturing environment, we propose the development of a new holonomic mobile robot DOMINO (Deep learning-based Omnidirectional Mobile robot with INtelligentcOntrol). 3D model of holonomic mobile robot prototype is developed in CAD software package SolidWorks, and designed parts are produced with additive manufacturing technology. Single board computer Raspberry Pi 4 and microcontroller board Arduino Mega 2560 are used for motion control of the holonomic mobile robot, while control actions are determined by the defined kinematic model of the omnidirectional wheeled mobile robot. The experimental verification shows that the holonomic mobile robot is capable of following a predetermined path while successfully avoiding obstacles within a laboratory model of a manufacturing environment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Doroftei, I., Grosu, V., Spinu, V.: Omnidirectional mobile robot-design and implementation. In: Habib, M. (ed.) Bioinspiration and Robotics Walking and Climbing Robots, vol. 29 (Vienna: IntechOpen), pp. 511–528 (2007)
Siegwart, R., Nourbakhsh, I., Scaramuzza, D.: Introduction to Autonomous Mobile Robots. MIT press, Cambridge (2011)
Pin, F., Killough, S.: A new family of omnidirectional and holonomic wheeled platforms for mobile robots. IEEE Trans. Robot. Autom. 10(4), 480–489 (1994)
Holmberg, R., Khatib, O.: Development and control of a holonomic mobile robot for mobile manipulation tasks. Int. J. Robot. Res. 19(11), 1066–1074 (2000)
El-Shenawy, A., Wellenreuther, A., Baumgart, A., Badreddin, E.: Comparing different holonomic mobile robots. In: IEEE International Conference on Systems, Man and Cybernetics, pp. 1584–1589 (2007)
Oliveira, H., Sousa, A., Moreira, P., Costa, P.: Dynamical models for omni-directional robots with 3 and 4 wheels. In: The Fifth International Conference on Informatics in Control, Automation and Robotics, pp. 189–196 (2008)
Nešić, N.: Hardware-software design of the control system of an intelligent holonomic mobile robot from the aspect of achieving autonomy in movement, Master thesis, University of Belgrade – Faculty of Mechanical Engineering (2020)
Nedeljković, M.: Design of an intelligent holonomic mobile robot for transportation tasks from the aspect of collision prevention during autonomous movement, Master thesis, University of Belgrade – Faculty of Mechanical Engineering (2020)
Jakovljević, Z., Petrović, M., Mitrović, S., Miljković, Z.: Intelligent sensing systems–status of research at kaprom. In: International Conference on the Industry 4.0 Model for Advanced Manufacturing, pp. 18–36 (2018)
Acknowledgment
This work has been financially supported by the Ministry of Education, Science and Technological Development, through the project “Integrated research in macro, micro, and nano mechanical engineering– Deep learning of intelligent manufacturing systems in production engineering” (contract No. 451-03-9/2021-14/200105), and by the Science Fund of the Republic of Serbia, grant No. 6523109, AI – MISSION 4.0, 2020–2022.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Đokić, L., Jokić, A., Petrović, M., Miljković, Z. (2021). Design and Development of a Holonomic Mobile Robot for Material Handling and Transportation Tasks. In: Karabegović, I. (eds) New Technologies, Development and Application IV. NT 2021. Lecture Notes in Networks and Systems, vol 233. Springer, Cham. https://doi.org/10.1007/978-3-030-75275-0_78
Download citation
DOI: https://doi.org/10.1007/978-3-030-75275-0_78
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-75274-3
Online ISBN: 978-3-030-75275-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)