Holonomic Implementation of Three Wheels Omnidirectional Mobile Robot using DC Motors

In the Indonesian Wheeled Football Robot Contest (KRSBI) wheeled division, robot that is made must be able to complete a predetermined task, one of which for chasing ball and catching it. Holonomic methods used in navigating omnidirectional movement mobile applications. Because designed without changing position direction facing, wheels are has ability move freely two directions. The three DC motors each movement. controlled by EMS 30A H-Bridge as driver Arduino Mega 2560 main microcontroller. inverse kinematic calculations conducted control x, y, ω toward angular velocity s1, s2, s3 wheel. length wheel axis middle body 160 mm. this study, was implemented on moving forward, backward, sideways, diagonal direction. Based data evaluation, it determined an error 2.84% exists at 0.256 m/s 1.403 m/s.