Research on the Dynamics of an Omnidirectional Platform Taking into Account Real Design of Mecanum Wheels (as Exemplified by KUKA youBot)

DOI10.20537/nd200205zbMath1459.70004OpenAlexW3037858512MaRDI QIDQ3304723

Gasan R. Saipulaev, B. I. Adamov

Publication date: 3 August 2020

Published in: Nelineinaya Dinamika (Search for Journal in Brave)

Full work available at URL: http://mathnet.ru/eng/nd711

zbMATH Keywords

Mecanum wheelomniwheelMecanum platformomniplatformyouBot

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Dynamics-Based Piecewise Constant Control of an Omnivehicle, A dynamically consistent model of normal reactions at points of a mobile platform contact with a surface taking account of the design of mecanum wheels and multicomponent friction, Criteria of Motion Without Slipping for an Omnidirectional Mobile Robot

Cites Work

• Geometry and kinematics of the Mecanum wheel
• On the motion of a mobile robot with roller-carrying wheels
• On the control of a robot ball using two omniwheels
• Stability of the rectilinear motion of an omni vehicle with consideration of wheel roller inertia
• Physically oriented simulation of the omnivehicle dynamics
• Mechanics of Terrestrial Locomotion
• A Study of the Controlled Motion of a Four-wheeled Mecanum Platform
• Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform