Wheel Arrangement of Four Omni Wheel Mobile Robot for Compactness

Compact omnidirectional mobile robots are required to automate transportation of raw materials, products, etc. within an industrial plant. This paper focuses on omni wheel with low vibration and arrangements that contribute compactness. Due its wheels’ configuration, our proposed compact robot may have different sensitivity noise (controller) performance (errors) when following a predetermined path, compared conventional ones. Using simple DC motor, the arrangement run along path. A linear–quadratic regulator is processed lightly used control for practicality. As result, robot’s trajectory in showed distortion from type. The was attributed inability motor rotate stably at speed. distortions exhibited suggest changes effect imperfect motion. In addition, possibility being suitable transport because wheels placed four corners robot, facing forward, backward, left, right.