Dynamic Analysis Modeling of a Holonomic Wheeled Mobile Robot with Mecanum Wheels Using Virtual Work Method

In order to study the kinematics and dynamics of a wheeled mobile robot WMR, an innovative method of kinematic and dynamic modeling using a principle of virtual work is proposed in this paper. The fundamental essence of this research is to use the principle of virtual work in dynamic model equations to control the actuators torques to follow the desired trajectory during implementation of the mobile robot task. This approach complements existing work on dynamic modeling and trajectory tracking control of holonomic mobile robots. Proposed method has been successfully examined and shows small errors in the trajectory tracking which confirmed the correctness of the theoretical expression of the dynamic model for the wheeled mobile robot. Simulation testing of the proposed method to perform the motion process of WMR in specific workspace during implementation of its task has been carried out. Two simulation examples presented in this work to show the effect of wheels torques on the robot body velocities and its trajectory tracking.