OPTIMIZING THE CONTROL OF A MECHATRONIC ASSEMBLY WITH OMNIDIRECTIONAL WHEELS THROUGH THE IMPLEMENTATION OF A DATA MONITORING SYSTEM AT THE ROLLER LEVEL IN ORDER TO IMPROVE THE STABILITY AND MANEUVRABILITY OF THE ASSEMBLY

This research work proposes the introduction of an innovative system for monitoring the rotations of the rollers integrated in a mecanum wheel, which provides improve the control and understanding of this essential element of omnidirectional motion.Considering the importance of the performance of these wheels in mobile robotics applications and autonomous systems, the study focuses on the analysis of the most common typologies of mecanum wheels, identifying the critical factors that influence their efficiency and stability.The research initially approaches the detailed study of the construction and operation of the mecanum wheels, going on to identify the specific characteristics that can alter the dynamic behaviour of the system.Next, it is proposed to design and integrate a monitoring system capable of following in real time the rotations of the rollers and why not, a monitoring system capable of removing the slippage of the rollers or skidding on inclined planes, using a series of sensors and data processing algorithms.The methodology adopted combines the theoretical analysis with the practical development of a prototype, which will be subjected to a set of rigorous experimental tests, aimed at validating the performance of the system in various operating conditions.The paper's conclusions will highlight the benefits of implementing the proposed system and suggest future research directions, focusing on refining monitoring algorithms and integrating real-time feedback technologies into advanced robotic platforms.