Solution of Inverse and Forward Kinematics Problems for Mobile Robot with Six Mecanum Wheels

Alwan, Hassan M.; Volkov, A. A.; Shbani, A.

doi:10.1088/1757-899x/1094/1/012071

Cited by 3 publications

(1 citation statement)

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“…A novel energy modeling method for mobile robots is proposed in [36], allowing the robots to calculate and predict energy consumption. In the work presented in [37], the inverse and forward kinematics for an OMR with six Mecanum wheels are detailed and simulated. The control method of an OWMR with four omnidirectional wheels proposed in [38] depends on the use of a 32-bit ARM microcontroller so that the kinematic modeling will be utilized as feedback.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Trajectory Planning Optimization for the Symmetrical Multiwheeled Omnidirectional Mobile Robot

Almasri

Uyguroğlu

2021

Symmetry

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Trajectory optimization is the series of actions that are taken into consideration in order to produce the best path such that it improves the overall performances of physical properties or reduces the consumption of the resources where the restriction system remains maintained. In this paper, first, a compact mathematical model for a symmetrical annular-shaped omnidirectional wheeled mobile robot (SAOWMR) is derived and verified. This general mathematical model provides an opportunity to conduct research, experiments, and comparisons on these omnidirectional mobile robots that have two, three, four, six, or even more omnidirectional wheels without the need to switch models or derive a new model. Then, a new computationally efficient method is proposed to achieve improvements in the trajectory planning optimization (TPO) for a SAOWMR. Moreover, the proposed method has been tested in collision-free navigation by incorporation of the path constraints. Numerical tests and simulations are presented aiming to ensure the efficiency and effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%