DSpace
 

Researchspace >
General science, engineering & technology >
General science, engineering & technology >
General science, engineering & technology >

Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/2771

Title: Kinematics and dynamics modelling of a mecanum wheeled mobile platform
Authors: Tlale, NS
De Villiers, M
Keywords: Automatic guided vehicle (AGV)
Mecanum wheel
Kinematics modelling
Omni-directionality
Issue Date: Dec-2008
Citation: Tlale, NS and De Villiers, M. 2008. Kinematics and dynamics modelling of a mecanum wheeled mobile platform. 15th International Conference on Mechatronics and Machine Vision in Practice. Auckland, New Zealand, 2-4 December 2008. pp 703-708
Abstract: Omni-directional mobile platforms have the ability to move instantaneously in any direction from any configuration. As such, it is important to have a mathematical model of the platform, especially if the platform is to be used as an autonomous vehicle. Autonomous behaviour requires that the mobile robot choose the optimum vehicle motion in different situations for object/collision avoidance and task achievement. This paper develops and verifies a mathematical model of a mobile robot platform that implements mecanum wheels to achieve omni-directionality. The mathematical model will be used to achieve optimum autonomous control of the developed mobile robot as an office service robot. Omni-directional mobile platforms have improved performance in congested environments and narrow aisles, such as those found in factory workshops, offices, warehouses and hospitals.
Description: 15th International Conference on Mechatronics and Machine Vision in Practice. Auckland, New Zealand, 2-4 December 2008.
URI: http://hdl.handle.net/10204/2771
ISBN: 978-0-473-13532-4
Appears in Collections:Mobile intelligent autonomous systems
Manufacturing science and technology
General science, engineering & technology

Files in This Item:

File Description SizeFormat
Tlale2_2008.pdf625.89 kBAdobe PDFView/Open
View Statistics

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

 

Valid XHTML 1.0! DSpace Software Copyright © 2002-2010  Duraspace - Feedback