Co-simulation of Omnidirectional Mobile Platform Based on Fuzzy Control

Slippage is inevitable when the mecanum wheel moves in a non-ideal environment which likes an uneven ground. Slippage is an important factor affecting the motion accuracy of the mecanum wheel. A novel six-input and five-output fuzzy controller is proposed to improve the motion accuracy of the mecanum wheel mobile platform (MWMP) in this paper. Firstly, the assembly model of the MWMP is designed by Solidworks software. The virtual prototype model can be obtained by Automatic Dynamic Analysis of Mechanical Systems (Adams) performing some parameter settings on the assembly model. Deviation data can be obtained easily and intuitively through ADAMS when the MWMP is moving. Co-simulation between Matlab and Adams is achieved through interface functions between them. Then, an ideal kinematics model is established in the global coordinate system. Finally, the thirteen fuzzy rules are designed based on the ten basic forms of motion of the MWMP. A fuzzy logic system (FLS) with adaptive function is established in Simulink. The experimental results indicate that the FLS can improve the robustness, adaptability and accuracy of the MWMP.