Moving Accuracy Measurement of Omnidirectional Robot for MOAP and Wheelchair Tennis

Recently, many kinds of robots are developed and they collaborate with various things to help humans. Over the past few decades, industrial robots have been used in factory operations. Also, these robots such as vacuum cleaner robot, security robot, therapy robot and wheelchair robot can support humans for many operations. Thus, using robots and related technologies are very meaningful to enrich our lives. In the context of welfare, in many countries in the world there are millions of people with disabilities who rely on wheelchairs. In this paper, we present an omnidirectional robot and introduce two applications: Moving Omnidirectional Access Point Robot (MOAP) and Wheelchair for tennis. These applications required a precise control of omnidirectional robot. Therefore, we measured the accuracy of moving omnidirectional robot using supersonic signals. The results shows that the omnidirectional robot was controlled correctly, because the error rate in x direction was within 1.00 [%]. However, when the robot moved in y direction, the error rate was 2.9 [%].