Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels
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...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | Russian |
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Educational institution «Belarusian State University of Informatics and Radioelectronics»
2024-02-01
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| Series: | Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki |
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| Online Access: | https://doklady.bsuir.by/jour/article/view/3861 |
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| _version_ | 1849398537049079808 |
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| author | А. А. Radkevich Wu Xinxin А. А. Velchenko S. A. Pauliukavets |
| author_facet | А. А. Radkevich Wu Xinxin А. А. Velchenko S. A. Pauliukavets |
| author_sort | А. А. Radkevich |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-432787ddeb6c4632b4d332a09fb98e0e |
| institution | Kabale University |
| issn | 1729-7648 |
| language | Russian |
| publishDate | 2024-02-01 |
| publisher | Educational institution «Belarusian State University of Informatics and Radioelectronics» |
| record_format | Article |
| series | Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki |
| spelling | doaj-art-432787ddeb6c4632b4d332a09fb98e0e2025-08-20T03:38:35ZrusEducational institution «Belarusian State University of Informatics and Radioelectronics»Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki1729-76482024-02-01221829010.35596/1729-7648-2024-22-1-82-901969Mathematical Model of Movement of a Mobile Robot with Omnidirectional WheelsА. А. Radkevich0Wu Xinxin1А. А. Velchenko2S. A. Pauliukavets3Belarusian National Technical UniversityBelarusian National Technical UniversityBelarusian National Technical UniversityBelarusian National Technical UniversityThe 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.https://doklady.bsuir.by/jour/article/view/3861mecanum wheelomnidirectional wheelmobile robotmathematical modelkinematic modeldynamic modelinverse kinematics |
| spellingShingle | А. А. Radkevich Wu Xinxin А. А. Velchenko S. A. Pauliukavets Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki mecanum wheel omnidirectional wheel mobile robot mathematical model kinematic model dynamic model inverse kinematics |
| title | Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels |
| title_full | Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels |
| title_fullStr | Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels |
| title_full_unstemmed | Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels |
| title_short | Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels |
| title_sort | mathematical model of movement of a mobile robot with omnidirectional wheels |
| topic | mecanum wheel omnidirectional wheel mobile robot mathematical model kinematic model dynamic model inverse kinematics |
| url | https://doklady.bsuir.by/jour/article/view/3861 |
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