Research Article

Kinematic Model of a Four Mecanum Wheeled Mobile Robot

by  Hamid Taheri, Bing Qiao, Nurallah Ghaeminezhad
journal cover
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 113 - Issue 3
Published: March 2015
Authors: Hamid Taheri, Bing Qiao, Nurallah Ghaeminezhad
10.5120/19804-1586
PDF

Hamid Taheri, Bing Qiao, Nurallah Ghaeminezhad . Kinematic Model of a Four Mecanum Wheeled Mobile Robot. International Journal of Computer Applications. 113, 3 (March 2015), 6-9. DOI=10.5120/19804-1586

                        @article{ 10.5120/19804-1586,
                        author  = { Hamid Taheri,Bing Qiao,Nurallah Ghaeminezhad },
                        title   = { Kinematic Model of a Four Mecanum Wheeled Mobile Robot },
                        journal = { International Journal of Computer Applications },
                        year    = { 2015 },
                        volume  = { 113 },
                        number  = { 3 },
                        pages   = { 6-9 },
                        doi     = { 10.5120/19804-1586 },
                        publisher = { Foundation of Computer Science (FCS), NY, USA }
                        }
                        %0 Journal Article
                        %D 2015
                        %A Hamid Taheri
                        %A Bing Qiao
                        %A Nurallah Ghaeminezhad
                        %T Kinematic Model of a Four Mecanum Wheeled Mobile Robot%T 
                        %J International Journal of Computer Applications
                        %V 113
                        %N 3
                        %P 6-9
                        %R 10.5120/19804-1586
                        %I Foundation of Computer Science (FCS), NY, USA
Abstract

This paper introduces omnidirectional Mecanum wheels and discusses the kinematic relations of a platform used four Mecanum wheels. Forward and Inverse kinematic is been derived in this paper. Experimental and analytically results are obtained and 8 different motions without changing the robot's orientation is achieved.

References
  • O. Diegel, A. Badve, G. Bright, J. Potgieter, and S. Tlale, "Improved Mecanum Wheel Design for Omni-directional Robots," no. November, pp. 27–29, 2002.
  • I. Doroftei, V. Grosu, and V. Spinu, Omnidirectional Mobile Robot - Design and Implementation, Bioinspiration and Robotics Walking and Climbing Robots, no. September. I-Tech, 2007.
  • R. P. A. van Haendel, "Design of an omnidirectional universal mobile platform," National University of Singapore, 2005.
  • T. A. Baede, "Motion control of an omnidirectional mobile robot," 2006.
  • X. Li and A. Zell, "Motion control of an omnidirectional mobile robot," 2006.
Index Terms
Computer Science
Information Sciences
No index terms available.
Keywords

Omnidirectional four Mecanum wheeled robot mobile robot kinematic.

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