Development of Omnidirectional drive robot controlling circuit

Abstract

Nowadays, mobile robots are widely used in various fields of applications. FESTO Robotino v2.1 is an omnidirectional drive system mobile robot capable of moving in any direction, straight or diagonally, and spinning around. The current paper describes the process of developing a replacement for the robot's control circuit in the Department of Electrical Engineering and Mechatronics of the University of Debrecen. During the design of the circuit board, the technical requirements of the existing hardware parts were carefully checked and considered to choose the proper components and ICs for the new PCB. The PCB’s functionalities to control the motors, set the communication between microcontrollers, and connect the peripherals, and others were tested and proved the reliability and efficiency of the replacement PCB. The robot with the new PCB can be further used for education and research of the omnidirectional drive, or further extending the capabilities of the Robotino my embedding various peripherals.