Development of mobile robot drive system using mecanum wheels

Mohamed, Taha Bin; Karim, Norsehah Abd; Ibrahim, Norazlin; Suleiman, Raja Fazliza Raja; Anwar, Md. Parvez; Rashid, Muhammad Fayyad Bin Aminul; Idris, Mohamad Idzrul Bin

doi:10.1109/icaees.2016.7888113

Cited by 4 publications

(1 citation statement)

References 2 publications

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“…This quest for exploiting merits of mecanum wheel is since 1972, when the mecanum wheels were introduced for the first time. The effort of the researchers led in designing of mobile robot with mecanum wheels 1 kinematic modelling along with improvement of mecanum wheels [2][3][4][5][6][7][8] , also a step ahead has been taken in developing control 9 and dynamic model 10 techniques for estimating unknown model parameters 11 for this type of robots. In critical conditions such as rescuing operations etc.…”

Section: Introductionmentioning

confidence: 99%

Behavioural Fault tolerant control of an Omni directional Mobile Robot with Four mecanum Wheels

2019

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This paper analyses the four-mecanum wheeled drive mobile robot wheels configurations that will give near desired performance with one fault and two faults for both set-point control and trajectory-tracking (circular profile) using kinematic motion control scheme within the tolerance limit. For one fault the system remains in its full actuation capabilities and gives the desired performance with the same control scheme. In case of two-fault wheels all combinations of faulty wheels have been considered using the same control scheme. Some configurations give desired performance within the tolerance limit defined while some does not even use pseudo inverse since using the system becomes under-actuated and their wheel alignment and configurations greatly influenced the performance.

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