Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels-Reference-Cited by-同舟云学术

Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels

Published:2024-02-28 Issue:1 Volume:22 Page:82-90
ISSN:2708-0382
Container-title:Doklady BGUIR
language:
Short-container-title:Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki

Author:

Radkevich А. А.¹,Xinxin Wu¹,Velchenko А. А.¹,Pauliukavets S. A.¹

Affiliation:

1. Belarusian National Technical University

Abstract

The article discusses the issue of controlling a four-wheeled mobile robot with omnidirectional wheelsof the mecanum type. An analysis of the rotational motion of the omnidirectional mecanum wheel was carriedout, based on its kinematics. For a specific robot with certain overall parameters, a graph of changes in the radiusof the mecanum wheel depending on the angle of its rotation was constructed. Kinematic and dynamic modelsof a mobile four-wheeled robot have been compiled, taking into account its geometric characteristics. The presented expressions are a mathematical description of the behavior of a mobile robot in statics and dynamics. Basedon the obtained models, the principles of operation of the motion control system for a four-wheeled mobile roboton omnidirectional wheels of the mecanum type are formed.

Publisher

Belarusian State University of Informatics and Radioelectronics

Reference10 articles.

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