This paper presents the dynamic modeling of a four-mecanum-wheeled mobile robot (4MWMR) to be assessed for frequent turning motion. Overdriven factor in this kind of vehicle motion is one of the issues that need to be tackled for safety and energy efficiencies reasons especially in its turning region. Therefore, this study has taken initiative to analyzing 4MWMR through a structure of mathematical model starting from the inverse kinematics calculation. Moreover, the dynamic model of 4MWMR was calculated using Euler Lagrange approach as a part of the model for torque and force assessment. The analyses are done by using the data history of the experiment of an actual 4MWMR platform as trajectory input to kinematics and dynamics model that connected with 4MWMR transfer function plant. Finally, the performance of 4MWMR parameters; wheel velocity, torque and vehicle axial forces; are demonstrated. From the sample of turning point input, the results show that 4MWMR performing different speed of wheels at different poles during turning session as well as torques. Vehicle longitude force shows the highest since the vehicle is a holonomic system used more force on longitude and latitude axes instead of rotational force on the body.
Dynamic Modeling and Analysis of Omnidirectional Wheeled Robot: Turning Motion Analysis
2018-01-22
Journal of Telecommunication, Electronic and Computer Engineering (JTEC); Vol 10, No 1-3: Moving Towards Industry 4.0 II; 103-108 ; 2289-8131 ; 2180-1843
Article (Journal)
Electronic Resource
English
DDC: | 629 |
Movement Performance Analysis of Mecanum Wheeled Omnidirectional Mobile Robot
British Library Conference Proceedings | 2019
|Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
DOAJ | 2017
|Modeling and Analysis of Omnidirectional Wheeled Vehicles Using Velocity-Based Impedance Control
Springer Verlag | 2022
|Hybrid Omnidirectional Wheeled Climbing Robot with an Electromagnet for Inspection
Springer Verlag | 2024
|