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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/5597

Title: Development of a control model for a four wheel mecanum vehicle
Authors: De Villiers, M
Tlale, NS
Keywords: Mecanum wheel
Dynamics modelling
Dynamic systems
Mecanum robot
Kinematics
Mecanum-wheeled mobile robot
Issue Date: Jan-2012
Publisher: American Society of Mechanical Engineers (ASME)
Citation: De Villers, M and Tlale, NS. 2012. Development of a control model for a four wheel mecanum vehicle. Journal of Dynamic Systems, Measurement, and Control, vol. 134(1)
Series/Report no.: Workflow;8116
Abstract: In this paper, a refined control model for a Mecanum-wheeled mobile robot is developed and presented. Available control models in literature for Mecanum-wheeled mobile robots 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 mobile robot employing these wheels and impacts the efficiency of locomotion of mobile robots using Mecanum wheels. The control model proposed in this paper 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. The developed control model is verified with experimental results. Using the refined model, control of Mecanum-wheeled mobile robot is made more more predictable and accurate.
Description: Copyright: 2012 ASME. This is an ABSTRACT ONLY
URI: DOI:10.1115/1.4005273
http://hdl.handle.net/10204/5597
ISSN: 0022-0434
Appears in Collections:Mobile intelligent autonomous systems
Manufacturing science and technology
General science, engineering & technology

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