Payload Stabilization in Multidirectional Robot Motion by Applying Trajectory Analysis Algorithm and Feedback Encoders

The paper deals with the problem of stabilizing the payload while in motion when transporting it with a robotic transport system with 4 steerable omnidirectional wheels. The focus is on the analysis of the movement trajectory using artificial intelligence and the application of feedback to stabilize the robot. The robot is set in motion along a predetermined trajectory, the upcoming trajectory is analyzed, the performed motion is optimized to correct the motion trajectory, and the feedback data from the motor encoders is analyzed. The results of experimental studies on a prototype of a multi-directional transport robot are presented.