Development of a control model for a four wheel mecanum vehicle / M. de Villiers in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 1 (Janvier 2012)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) . - 06 p. Titre : Development of a control model for a four wheel mecanum vehicle Type de document : texte imprimé Auteurs : M. de Villiers, Auteur ; N. S. Tlale, Auteur Année de publication : 2012 Article en page(s) : 06 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Mobile robots Motion control Position Robot dynamics Wheels Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : 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 center 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 predictable and accurate. DEWEY : 553 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000001 [...] [article] Development of a control model for a four wheel mecanum vehicle [texte imprimé] / M. de Villiers, Auteur ; N. S. Tlale, Auteur . - 2012 . - 06 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) . - 06 p. Mots-clés : Mobile robots Motion control Position Robot dynamics Wheels Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : 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 center 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 predictable and accurate. DEWEY : 553 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000001 [...]

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