Kinematic Model of a Four Mecanum Wheeled Mobile Robot
18 Mar 2015-International Journal of Computer Applications (Foundation of Computer Science (FCS))-Vol. 113, Iss: 3, pp 6-9
TL;DR: The design of an omnidirectional universal mobile platform for Omni-directional Robots and its implementation at the National University of Singapore, 2005.
Abstract: O. Diegel, A. Badve, G. Bright, J. Potgieter, and S. Tlale, "Improved Mecanum Wheel Design for Omni-directional Robots," 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, "Design of an omnidirectional universal mobile platform," National University of Singapore, 2005.
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TL;DR: The proposed model is used to construct an algorithm for calculating control actions for trajectories characterizing the high maneuverability of the mobile robot.
Abstract: 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...
37 citations
TL;DR: The important background works regarding each wheel mechanism are presented, the most important wheel mechanisms are presented and the current trending approaches are presented to assist designers and researchers to select appropriate mechanism and control approach fit to their requirements.
33 citations
30 citations
TL;DR: A 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.
Abstract: 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.
23 citations
01 Jan 2018
TL;DR: 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 by demonstrating the feasibility of the device and sensing configuration to provide meaningful 2.5D geometric maps.
Abstract: 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.
17 citations
References
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01 Jan 2002
TL;DR: Omni-directional is used to describe the ability of a system to move instantaneously in any direction from any configuration as discussed by the authors, and it can be used to perform tasks in environments congested with static and dynamic obstacles and narrow aisles.
Abstract: Omni-directional is used to describe the ability of a system to move instantaneously in any direction from any configuration. Omnidirectional robotic platforms have vast advantages over a conventional design in terms of mobility in congested environments. They are capable of easily performing tasks in environments congested with static and dynamic obstacles and narrow aisles. These environments are commonly found in factory workshops offices, warehouses, hospitals and elderly care facilities.
147 citations
"Kinematic Model of a Four Mecanum W..." refers background in this paper
...1 Mecanum Wheels Mechanum wheel also called Ilon wheel and Swedish wheel is a more common omnidirectional wheel designs, invented in 1973 by Bengt Ilon a Swedish engineer [1]....
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01 Sep 2007
TL;DR: Bioinspiration and Robotics: Walking and Climbing Robots, Edited by Maki K. Habib p.
Abstract: ing and non-profit use of the material is permitted with credit to the source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. Publisher assumes no responsibility liability for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained inside. After this work has been published by the I-Tech Education and Publishing, authors have the right to republish it, in whole or part, in any publication of which they are an author or editor, and the make other personal use of the work. © 2007 I-Tech Education and Publishing www.ars-journal.com Additional copies can be obtained from: publication@ars-journal.com First published September 2007 Printed in Croatia A catalogue record for this book is available from the Austrian Library. Bioinspiration and Robotics: Walking and Climbing Robots, Edited by Maki K. Habib p. cm. ISBN 978-3-902613-15-8 1. Walking Robots. 2. Climbing Robots. I. Maki K. Habib
65 citations
01 Jan 2009
TL;DR: A new control method based on the inverse input-output linearized kinematic model is proposed that takes into account the actuator saturation and actuator dynamics and guarantees the stability of the closed-loop control system.
Abstract: This paper focuses on the motion control problem of an omnidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. Real-world experiments with an omnidirectional middle-size RoboCup robot verify the performance of this proposed control algorithm.
57 citations
Additional excerpts
...vir = 1 cos 45 rrωi , wEi = riωi [4], i = 0,1,2,3....
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01 Jan 2006
TL;DR: The final author version and the galley proof are versions of the publication after peer review and the final published version features the final layout of the paper including the volume, issue and page numbers.
19 citations
01 Jan 2005
TL;DR: A submitted manuscript is the version of the article upon submission and before peer-review as discussed by the authors, while a published version is the final layout of the paper including the volume, issue and page numbers.
Abstract: • A submitted manuscript is the version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publication
13 citations