Author:
Li Yunwang,Ge Shirong,Dai Sumei,Zhao Lala,Yan Xucong,Zheng Yuwei,Shi Yong
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.
Funder
National Natural Science Foundation of China
Six Talent Peaks Project in Jiangsu Province
China Scholarship Council
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Cited by
29 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献