Tham khảo tài liệu 'mobile robots current trends part 13', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | The Development of the Omnidirectional Mobile Home Care Robot 349 Fig. 6. 3D CAD software was used to design the robot platform Fig. 7. An omni-directional wheel was driven by DC servo motor Fig. 8. Photo of the robot platform with three omni-directional wheels 350 Mobile Robots - Current Trends 2 6 ĂỚ zzzzz Xw Fig. 9. Kinematic Diagram of the robot platform with three omni-directional wheels Fig. 9 is the kinematic diagram of the robot platform with three omni-directional wheels. The inverse kinematic equations of the robot platform with three omni-directional wheels are shown as follow RÓỵ - sin ỗ ộ xw cos ỗ 0 ỷw Lịó RÓ2 - -sin ổ -ộ xH. - cos ỗ -ộ ýH. Li ị 2 Rẽ Ị cos ự .Ýw sin ự ỹw L2 i Where Li distance from center of the platform to omni-directional wheel Orientation angle according to world coordinate xw yw 0i rotation angle of omni-directional wheel i The inverse Jacobian matrix can be derived from the above equations 3 02 0 j. R -sin ổ 0 COSỘ 0 ft sin S 0 -cosệ-0 Ặ k. cosộ sin L ộ 3 3. Indoor localization system As shown in Fig. 10 Indoor localization system http which used IR passive landmark technology was used in the proposed service mobile robot. The localization sensor module see Fig. 11 can analyze infrared ray image reflected from a passive landmark see Fig. 12 with characteristic ID. The output of position and heading angle of a mobile robot is given with very precise resolution and high speed. The position repetition accuracy is less than 2cm the heading angle accuracy is 1 degree. The Development of the Omnidirectional Mobile Home Care Robot 351 Fig. 10. Indoor localization system Hagisonic co. Fig. 11. Localization sensor module Hagisonic co. Fig. 12. IR passive landmark Hagisonic co.