De Villiers, MTlale, NS2012-02-242012-02-242012-01De 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)0022-0434DOI:10.1115/1.4005273http://hdl.handle.net/10204/5597Copyright: 2012 ASME. This is an ABSTRACT ONLYIn 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.enMecanum wheelDynamics modellingDynamic systemsMecanum robotKinematicsMecanum-wheeled mobile robotDevelopment of a control model for a four wheel mecanum vehicleArticleDe Villiers, M., & Tlale, N. (2012). Development of a control model for a four wheel mecanum vehicle. http://hdl.handle.net/10204/5597De Villiers, M, and NS Tlale "Development of a control model for a four wheel mecanum vehicle." (2012) http://hdl.handle.net/10204/5597De Villiers M, Tlale N. Development of a control model for a four wheel mecanum vehicle. 2012; http://hdl.handle.net/10204/5597.TY - Article AU - De Villiers, M AU - Tlale, NS AB - 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. DA - 2012-01 DB - ResearchSpace DP - CSIR KW - Mecanum wheel KW - Dynamics modelling KW - Dynamic systems KW - Mecanum robot KW - Kinematics KW - Mecanum-wheeled mobile robot LK - https://researchspace.csir.co.za PY - 2012 SM - 0022-0434 T1 - Development of a control model for a four wheel mecanum vehicle TI - Development of a control model for a four wheel mecanum vehicle UR - http://hdl.handle.net/10204/5597 ER -