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Kinematic Model of a Four Mecanum Wheeled Mobile Robot

by Hamid Taheri, Bing Qiao, Nurallah Ghaeminezhad
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 113 - Number 3
Year of Publication: 2015
Authors: Hamid Taheri, Bing Qiao, Nurallah Ghaeminezhad
10.5120/19804-1586

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 },
issue_date = { March 2015 },
volume = { 113 },
number = { 3 },
month = { March },
year = { 2015 },
issn = { 0975-8887 },
pages = { 6-9 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume113/number3/19804-1586/ },
doi = { 10.5120/19804-1586 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T22:49:59.205632+05:30
%A Hamid Taheri
%A Bing Qiao
%A Nurallah Ghaeminezhad
%T Kinematic Model of a Four Mecanum Wheeled Mobile Robot
%J International Journal of Computer Applications
%@ 0975-8887
%V 113
%N 3
%P 6-9
%D 2015
%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
  1. 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.
  2. 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.
  3. R. P. A. van Haendel, "Design of an omnidirectional universal mobile platform," National University of Singapore, 2005.
  4. T. A. Baede, "Motion control of an omnidirectional mobile robot," 2006.
  5. X. Li and A. Zell, "Motion control of an omnidirectional mobile robot," 2006.
Index Terms

Computer Science
Information Sciences

Keywords

Omnidirectional four Mecanum wheeled robot mobile robot kinematic.

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