Research Article
Kinematic Model of a Four Mecanum Wheeled Mobile Robot
|
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
|
| Volume 113 - Issue 3 |
| Published: March 2015 |
| Authors: Hamid Taheri, Bing Qiao, Nurallah Ghaeminezhad |
10.5120/19804-1586
|
Hamid Taheri, Bing Qiao, Nurallah Ghaeminezhad . Kinematic Model of a Four Mecanum Wheeled Mobile Robot. International Journal of Computer Applications. 113, 3 (March 2015), 6-9. DOI=10.5120/19804-1586
@article{ 10.5120/19804-1586,
author = { Hamid Taheri,Bing Qiao,Nurallah Ghaeminezhad },
title = { Kinematic Model of a Four Mecanum Wheeled Mobile Robot },
journal = { International Journal of Computer Applications },
year = { 2015 },
volume = { 113 },
number = { 3 },
pages = { 6-9 },
doi = { 10.5120/19804-1586 },
publisher = { Foundation of Computer Science (FCS), NY, USA }
}
%0 Journal Article
%D 2015
%A Hamid Taheri
%A Bing Qiao
%A Nurallah Ghaeminezhad
%T Kinematic Model of a Four Mecanum Wheeled Mobile Robot%T
%J International Journal of Computer Applications
%V 113
%N 3
%P 6-9
%R 10.5120/19804-1586
%I Foundation of Computer Science (FCS), NY, USA
Abstract
This paper introduces omnidirectional Mecanum wheels and discusses the kinematic relations of a platform used four Mecanum wheels. Forward and Inverse kinematic is been derived in this paper. Experimental and analytically results are obtained and 8 different motions without changing the robot's orientation is achieved.
References
- 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.
- T. A. Baede, "Motion control of an omnidirectional mobile robot," 2006.
- X. Li and A. Zell, "Motion control of an omnidirectional mobile robot," 2006.
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