In this paper, a refined control model for a Mecanum-wheeled mobile robot is developed and presented. Available control models in literature for Mecanum-wheeled mobile robots are based on a simplification which defines the contact point of the wheel on the ground as the point in the center of the wheel, which does not vary. This limits the smoothness of motion of a mobile robot employing these wheels and impacts the efficiency of locomotion of mobile robots using Mecanum wheels. The control model proposed in this paper accounts for the fact that the contact point in fact changes position down the axle of the wheel as the angle roller moves on the ground. The developed control model is verified with experimental results. Using the refined model, control of Mecanum-wheeled mobile robot is made more predictable and accurate.
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January 2012
Research Papers
Development of a Control Model for a Four Wheel Mecanum Vehicle
M. de Villiers,
M. de Villiers
Mechatronics and Micro-manufacturing (MMM), Council for Scientific and Industrial Research (CSIR)
, P. O. Box 395, Pretoria, 0001, Republic of South Africa
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N. S. Tlale
N. S. Tlale
Mobile Intelligent Autonomous Systems (MIAS), Council for Scientific and Industrial Research (CSIR)
, Pretoria, South Africa
Search for other works by this author on:
M. de Villiers
Mechatronics and Micro-manufacturing (MMM), Council for Scientific and Industrial Research (CSIR)
, P. O. Box 395, Pretoria, 0001, Republic of South Africa
N. S. Tlale
Mobile Intelligent Autonomous Systems (MIAS), Council for Scientific and Industrial Research (CSIR)
, Pretoria, South Africa
J. Dyn. Sys., Meas., Control. Jan 2012, 134(1): 011007 (6 pages)
Published Online: December 2, 2011
Article history
Received:
May 17, 2010
Revised:
July 27, 2011
Online:
December 2, 2011
Published:
December 2, 2011
Citation
de Villiers, M., and Tlale, N. S. (December 2, 2011). "Development of a Control Model for a Four Wheel Mecanum Vehicle." ASME. J. Dyn. Sys., Meas., Control. January 2012; 134(1): 011007. https://doi.org/10.1115/1.4005273
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