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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/4545

Title: Development of a control model for a four wheel mecanum vehicle
Authors: De Villiers, M
Bright, G
Keywords: Mecanum wheel
Kinematics modelling
Dynamics modelling
Robotics
Issue Date: Jul-2010
Citation: De Villiers, M and Bright, G. 2010. Development of a control model for a four wheel mecanum vehicle. 25th International Conference of CAD/CAM, Robotics and Factories of the Future, Pretoria, South Africa, 13-16 July 2010, pp 10
Abstract: This paper presents the development of a control model for Mecanum wheels. Available control models used in robotics are based on a simplification which defines the contact point of the wheel on the ground as the point in the centre of the wheel, which does not vary. This limits the smoothness of motion of a vehicle employing these wheels and impacts the efficiency of locomotion of vehicles using Mecanum wheels. The control model proposed accounts for the fact that the contact point in fact changes position down the axle of the wheel as the angle roller moves on the ground. Taking this into consideration makes control of the wheels more predictable and accurate
Description: 25th International Conference of CAD/CAM, Robotics and Factories of the Future, Pretoria, South Africa, 13-16 July 2010
URI: http://hdl.handle.net/10204/4545
ISBN: 978-0-620-46582-3
Appears in Collections:Manufacturing science and technology
General science, engineering & technology

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