In this article, a dynamical model for controlling an omniwheel mobile robot is presented. The proposed model is used to construct an algorithm for calculating control actions for trajectories char...

Experimental investigations of a highly maneuverable mobile omniwheel robot

Omnidirectional mobile robots, mechanisms and navigation approaches

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Robotic pipeline wall thickness evaluation for dense nondestructive testing inspection

In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the kinematic models of single- and multiple-robot combination systems are correct, and the inverse kinematic correction model with velocity compensation matrix is feasible. Through simulations or experiments, the velocity compensation coefficients of the robots can be measured and the velocity compensation matrix can be created. This modified inverse kinematic model can effectively reduce the errors of robot motion caused by wheel slippage and improve the motion accuracy of the mobile robot system.

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation.

This paper addresses automated mapping of the remaining wall thickness of metallic pipelines in the field by means of an inspection robot equipped with Non-Destructive Testing (NDT) sensing. Set in the context of condition assessment of critical infrastructure, the integrity of arbitrary sections in the conduit is derived with a bespoke robot kinematic configuration that allows dense pipe wall thickness discrimination in circumferential and longitudinal direction via NDT sensing with guaranteed sensing lift-off (offset of the sensor from pipe wall) to the pipe wall, an essential barrier to overcome in cement-lined water pipelines. The data gathered represents not only a visual understanding of the condition of the pipe for asset managers, but also constitutes a quantative input to a remaining-life calculation that defines the likelihood of the pipeline for future renewal or repair. Results are presented from deployment of the robotic device on a series of pipeline inspections which demonstrate the feasibility of the device and sensing configuration to provide meaningful 2.5D geometric maps.

Towards Automatic Robotic NDT Dense Mapping for Pipeline Integrity Inspection

O. Diegel, A. Badve, G. Bright, J. Potgieter, and S. Tlale, &quot;Improved Mecanum Wheel Design for Omni-directional Robots,&quot; no. November, pp. 27–29, 2002. I. Doroftei, V. Grosu, and V. Spinu, Omnidirectional Mobile Robot Design and Implementation, Bioinspiration and Robotics Walking and Climbing Robots, no. September. I-Tech, 2007. R. P. A. van Haendel, &quot;Design of an omnidirectional universal mobile platform,&quot; National University of Singapore, 2005.

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Bing Qiao

Papers

Kinematic Model of a Four Mecanum Wheeled Mobile Robot