Omnidirectional Vehicle Platform

The Application: 8 wheel drive Automated Car Garage Platform

This robotic system was commissioned for a high-density, automated car storage facility, designed to maximize vehicle capacity within confined urban spaces. The primary function of the robot is to act as a fully autonomous, omnidirectional mobile platform for transporting vehicles within the garage. The platform features an 8-wheel drive system with pairs of independently controlled motors located at each corner, enabling highly precise maneuverability.

Due to the extremely tight parking spaces and narrow aisles within the multi-story structure, the platform required the capability for complex movements, including true lateral (crabbing) movement and rotation in place. This omnidirectional capability was essential to retrieve and store vehicles efficiently, eliminating the need for wide turning radii typically associated with traditional wheeled systems. This solution allows the client to achieve significantly denser vehicle storage compared to conventional parking systems.

The Problem: The In-House Technical Knowledge Gap

While the client successfully handled the mechanical fabrication (chassis and 8-wheel mounting) and electrical wiring of the unique platform, they faced a critical internal challenge: a complete absence of expertise in specialized mobile robotics development. They required a non-conventional transport solution capable of true omnidirectional movement, but their internal team lacked the specific knowledge needed for two crucial areas: implementing complex multi-axis motion control and integrating an industrial communication bus.

The 8-wheel configuration demanded advanced inverse kinematics and closed-loop control algorithms far exceeding their existing industrial automation experience. Furthermore, solving this problem required writing low-level software, in C++, to manage the CANopen protocol and the intricacies of the DS402 motion profile across eight separate motor drives. The client recognized that without immediate external support, they would face significant delays, costly hiring, or a failure to translate their robust mechanical design into a functioning, reliable automated vehicle platform. This technical knowledge gap was the primary problem requiring my immediate services.

The Solution: Engineering Intelligence and Precision

The core solution delivered was a highly sophisticated, real-time motion control system and kinematic model designed to orchestrate the eight independent wheel units, enabling precise omnidirectional movement. As the client had completed the mechanical and electrical groundwork, my focus was entirely on the integration and control software stack.

To manage the complexity and ensure deterministic, synchronized operation of the 8 motors, the solution leveraged the CANopen protocol, specifically using the DS402 device profile for motion control. This involved the precise configuration of the eight motors, definition of the necessary Process Data Objects (PDOs) for high-speed communication, and implementation of the full DS402 state machine for sequencing and comprehensive error handling. Crucially, the custom kinematic model calculated the required velocity and steering angle for each wheel, using feedback from absolute encoders installed on each wheel pair to guarantee and confirm its exact orientation.

The Impact and Benefits

The implementation of the custom motion control and software stack provided the client with key strategic and operational benefits directly attributable to my specialized expertise:

Expertise and Hiring Avoidance: By delivering the complete, tested motion control system and kinematic model, the client avoided the high costs and lengthy process of recruiting and hiring specialized robotics engineers. Specifically, they circumvented the need for a team member proficient in C++ programming to write the low-level communication drivers and solve the complex 8-wheel kinematics. This allowed their in-house team to focus purely on their core competencies (mechanical and electrical design).

Rapid Functional Realisation: My involvement enabled the client to move from a mechanical prototype to a fully functional, autonomously-moving vehicle in a compressed timeline. This rapid integration allowed them to validate their core product design without a protracted period of internal software development and debugging complex industrial protocols like CANopen and DS402.

Guaranteed Kinematic Reliability: The custom-built kinematic model provided a precise level of movement accuracy essential for the high-density environment. The reliable implementation of the motor control, managed via the DS402 profile, assured them of a stable and predictable control system, which was the final critical component needed to realize their innovative platform.

Facing challenges in bridging the gap to advanced mobile robotics or seeking to empower your clients with cutting-edge automation? Let's discuss how Robogility's expertise can provide the bespoke solutions you need to unlock new possibilities and enhance your service offerings.