DocumentCode
2340287
Title
Research on Motion Characteristic of Omnidirectional Robot Based on Mecanum Wheel
Author
Yunan, Zhang ; Shuangshuang, Wang ; Jian, Zhang ; Quan, Su ; Jianmin, Gao
Author_Institution
Dept. of Control Eng., Acad. of Armored Force Eng., Beijing, China
Volume
2
fYear
2010
fDate
18-20 Dec. 2010
Firstpage
237
Lastpage
241
Abstract
To analyse the problem of anisotropy of omni directional robot, kinematic and dynamic equations of Mecanum wheel system are derived according to its structure feature. Considering a typical layout, the influence made by tilted angles of rollers for longitudinal symmetry layout is analysed, rules of omni directional motion can be summarized. Dynamic models with longitudinal symmetry layout are built and simulative experiments are carried out, which provides the theory basis for Mecanum wheel omni directional robot.
Keywords
mobile robots; motion control; robot dynamics; robot kinematics; Mecanum wheel system; dynamic equations; kinematic equations; longitudinal symmetry layout; motion characteristic; omnidirectional robot; Mecanum; motion characteristic; omnidirectional robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Digital Manufacturing and Automation (ICDMA), 2010 International Conference on
Conference_Location
ChangSha
Print_ISBN
978-0-7695-4286-7
Type
conf
DOI
10.1109/ICDMA.2010.57
Filename
5701392
Link To Document