Solution of Inverse and Forward Kinematics Problems for Mobile Robot with Six Mecanum Wheels

Solution of Inverse and Forward Kinematics Problems for Mobile Robot with Six Mecanum Wheels

The wheeled mobile robot has been considered a planner mechanism with linear and angular movement over a horizontal plane. In particular, the wheeled mobile robot’s movement is assumed to result from pure rolling of wheels without slipping. The kinematics model is one of the most fundamental steps i...

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Veröffentlicht in:IOP conference series. Materials Science and Engineering 2021-02, Vol.1094 (1), p.12071
Hauptverfasser: Alwan, Hassan M, Volkov, A N, Shbani, A
Format: Artikel
Sprache:eng
Schlagworte:
Kinematic equations
Kinematics
Mathematical models
Robots
Wheels
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Beschreibung
Zusammenfassung:The wheeled mobile robot has been considered a planner mechanism with linear and angular movement over a horizontal plane. In particular, the wheeled mobile robot’s movement is assumed to result from pure rolling of wheels without slipping. The kinematics model is one of the most fundamental steps in studying any mobile robot. This research presents the kinematic equations of movement of a mobile robot with mecanum wheels. The resulting mathematical model of a wheeled mobile robot was produced using the MATLAB R2014a program. The kinematic modeling technique was investigated by simulating a robot’s walk on a square path.
ISSN:1757-8981
1757-899X
DOI:10.1088/1757-899X/1094/1/012071