3 wheeled omni directional robot

This is a robot platform I just developed this week. The controller is a atmega640 based board of my own design. This platform uses 6 Futaba S148 servos (3 modified for 360 rotation) in order to move and steer. The robot is omni-directional meaning that the robot can move in any direction while keeping a consistent heading. This video shows the platform making a counterclockwise circle while facing forward. You will notice that the robot stops and positions a single wheel assembly a couple of times. This operation is necessary because the steering servos have a limit of 180 degrees of rotation.

Category:

Science & Technology

Tags:

• omni
• robot
• arduino
• atmega640
• avr

[sonictj]

//example code part I

void timer3Servo_init()

{ // set ovf at 50 hz for servos ICR3H = 0x9C; ICR3L = 0x3F;  //enable pwm and prescaler of 8 TCCR3A = _BV(COM3A1) | _BV(COM3B1) | _BV(COM3C1) | _BV(WGM31); TCCR3B = _BV(WGM33) | _BV(WGM32) | _BV(CS31); // set data direction registers DDRE = _BV(DDB3) | _BV(DDB4) | _BV(DDB5);

}

[damusotis7]

good day,

my project is robotics.can u pls tell me the spare parts needed . Can you share the codes that you used. thanks a lot

[apetronic]

Nice work ! ..

Ive been poking around with the Futaba s148 (unmodified /still on 180' rotation) but have been getting "itchy" response @ 5v (neutral set to 1,52ms and refresh set to 20ms). Do you have any scaled/calibrated values that works well that you are willing to share ?

Im new to this =)