A Study of the Dynamics of an Omnidirectional Platform, Taking into Account the Design of Mecanum Wheels and Multicomponent Contact Friction

Adamov, B. I.; Saypulaev, Gasan R.

doi:10.1109/nir50484.2020.9290193

Cited by 11 publications

(2 citation statements)

References 18 publications

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“…This model reference approach permits feeding the proposed control laws appropriately, enabling an orientation keeping along the trajectory and guaranteeing the accuracy of its path tracking. For the specific OWV system, Adamov et al proposed the solution by using the approach of multiplication of the velocity of each wheel by the cosine angle at the desired direction projected on each Omni wheel-driven direction [19]. Numerous efforts have gained the stability of a wheeled vehicle other than smoothest path motion whenever the vehicle faces a critical road, such as cornering and rough terrain [20][21][22].…”

Section: Inertia Issues On Omnidirectional Wheeled Vehicle/robotmentioning

confidence: 99%

Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road

Adam

Irawan

2022

IJRCS

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The paper presents a dynamic control approach using impedance control to reduce inertia factors acting on a Mecanum Wheeled Vehicle (MWV) on cornering roads. Inertia in a mobile vehicle is one of the issues that affect the safety and energy efficiencies of the vehicle, especially when maneuvering on cornering and confined paths. With reference to the problem statements in the dynamics analyses, velocity-based impedance control was proposed where the derived interaction translational forces on the vehicle that consider friction and touching forces on vehicle-terrain are controlled through the velocities of the vehicle. This study emphasized shaping the axial velocities input of the MWV for both longitudinal and latitude motions to control the sensitivity of the vehicle during cornering periods. The verification was done through several simulations on the proposed velocity-based impedance control on the MWV plant. The results show that the different forces on MWV axial motion were capable of reducing inertia via velocity input during the cornering period of maneuvering by increasing the stiffness and damping ratio of the controller at about 2 and 9 for stiffness x-axis and y-axis, respectively, and 15 and 10 for damping ration of the x-axis and y-axis respectively. Moreover, with the proposed controller, inertia on MWV can be controlled on the slippery road such as asphalt roads. This scenario has influenced the overall kinetic energy of the vehicle down to about 26%, thus, able to control the overdriven occurred on cornering road.

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Section: Inertia Issues On Omnidirectional Wheeled Vehicle/robotmentioning

confidence: 99%

Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road

Adam

Irawan

2022

IJRCS

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“…Omnidirectional mobile robots are special kind of mobile robots which can move in any direction, due reason, they can easily skid instead of turning. Kinematic model of omnidirectional wheel provides the analytical control of mobile robot [12] . The geometry and kinematics of mecanum wheel can be used to find out the relationship between velocity of the robot and the velocity of each wheel, as given in [13] .…”

Section: Introductionmentioning

confidence: 99%

Real-time navigation of mecanum wheel-based mobile robot in a dynamic environment

Shafiq,

Imran,

Maznoor

et al. 2024

Heliyon

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Modeling and Analysis of Omnidirectional Wheeled Vehicles Using Velocity-Based Impedance Control

Adam

Irawan

2022

Enabling Industry 4.0 Through Advances in Mechatronics

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A Study of the Dynamics of an Omnidirectional Platform, Taking into Account the Design of Mecanum Wheels and Multicomponent Contact Friction

Cited by 11 publications

References 18 publications

Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road

Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road

Real-time navigation of mecanum wheel-based mobile robot in a dynamic environment

Modeling and Analysis of Omnidirectional Wheeled Vehicles Using Velocity-Based Impedance Control

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