Influence of mecanum wheels construction on accuracy of the omnidirectional platform navigation (on exanple of KUKA youBot robot)

Adamov, B. I.

doi:10.23919/icins.2018.8405889

Cited by 22 publications

(7 citation statements)

References 7 publications

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“…In this sense, the construction quality of the unconventional wheels plays a key role in the performance of the platform in terms of vibrations and positioning accuracy, as presented by Adamov et Al. in 2018 [47]. Moreover, the reduced size of the roller, which is related to the relative curvature at the contact point can strongly affect the navigation in presence of small obstacles and unevenness of the ground.…”

Section: Velocity Space Under Wheel Speed Limitationmentioning

confidence: 99%

“…the axis perpendicular to the actuated wheels' common axle), while the performances of mecanum/universal based platforms are strongly influenced by the reduced size of the passive rollers, which limits the ability in carrying heavy loads, and by the discontinue contact with the ground, which causes vibrations especially on uneven terrain [45,46]. Moreover, a study by Adamov in 2018 [47] shows that the construction accuracy of Mecanum wheels affects the navigation of an omnidirectional platform (in that case a KUKA YOUBOT) and they proposed an improved algorithm to increase the accuracy of odometric navigation. In Table 1, the most adopted locomotion systems are reported and compared.…”

Section: Introductionmentioning

confidence: 99%

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Wheeled Mobile Robots: State of the Art Overview and Kinematic Comparison Among Three Omnidirectional Locomotion Strategies

Tagliavini

Colucci

Botta

et al. 2022

J Intell Robot Syst

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In the last decades, mobile robotics has become a very interesting research topic in the field of robotics, mainly because of population ageing and the recent pandemic emergency caused by Covid-19. Against this context, the paper presents an overview on wheeled mobile robot (WMR), which have a central role in nowadays scenario. In particular, the paper describes the most commonly adopted locomotion strategies, perception systems, control architectures and navigation approaches. After having analyzed the state of the art, this paper focuses on the kinematics of three omnidirectional platforms: a four mecanum wheels robot (4WD), a three omni wheel platform (3WD) and a two swerve-drive system (2SWD). Through a dimensionless approach, these three platforms are compared to understand how their mobility is affected by the wheel speed limitations that are present in every practical application. This original comparison has not been already presented by the literature and it can be used to improve our understanding of the kinematics of these mobile robots and to guide the selection of the most appropriate locomotion system according to the specific application.

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Section: Velocity Space Under Wheel Speed Limitationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Wheeled Mobile Robots: State of the Art Overview and Kinematic Comparison Among Three Omnidirectional Locomotion Strategies

Tagliavini

Colucci

Botta

et al. 2022

J Intell Robot Syst

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show abstract

“…One common drawback of all vehicles using mecanum wheels is that they are affected by random slippage 22 and high-speed vibration 23 that lead to position errors and energy dissipation problems 24,25 . This is especially true for robots that are required to carry large loads.…”

Section: Rocco Galati * Giacomo Mantriota and Giulio Reinamentioning

confidence: 99%

Adaptive heading correction for an industrial heavy-duty omnidirectional robot

Galati

Mantriota

Reina

2022

Sci Rep

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The paper deals with the design and testing of a robot for industrial applications featuring omnidirectionality thanks to the use of mecanum wheels. While this architecture provides remarkable manoeuvrability in narrow or cluttered spaces, it has some drawbacks that limit its widespread deployment in practice, especially for heavy-duty and long-duration tasks. As an example, the variability in the mecanum wheel rolling radius leads to undesired dynamic ill-effects, such as slippage and vibrations that affect the accuracy of pose estimation and tracking control systems. Drawing on the modeling of the kinematic and dynamic behaviour of the robot, these effects have been tackled within an adaptive estimation framework that adjusts the robot control system based on the properties of the surface being traversed. The proposed approach has been validated in experimental tests using a physical prototype operating in real industrial settings.

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“…ii) A five degrees of freedom KUKA™ robotic arm compatible with the EtherCAT industrial communication protocol. iii) Replaceable end effector which can be selected among a variety of options depending the availability [40].…”

Section: Kuka Youbot™ Mobile Manipulatormentioning

confidence: 99%

Flexible robotic teleoperation architecture for intelligent oil fields

Caiza

García

Naranjo

et al. 2020

Heliyon

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Teleoperation virtual platforms allow people to send their skills and capacities into machines located in either relative close (few meters away) or far (different continents) locations. With the use of lightweight protocols, people can remotely control the actions and movements of robots so they can avoid physical interaction with dangerous or risky places. Oil and gas well-pads stations are working zones considered hazardous due to the various chemical substances used in their daily processes. This characteristic makes these places the perfect candidates for the implementation of teleoperation solutions in order to reduce the direct interaction of humans with different chemicals and risky situations. The following investigation focuses on the development of a base teleoperation scheme to perform inspection and maintenance tasks in the inside one of these hydrocarbon facilities. The proposed system aims to generate an easily scalable teleoperation solution using distributed control schemes and a lightweight communication protocol to remotely manipulate a KUKA mobile manipulator. As the first stage of this investigation, the main result focuses on the development of the generic control and communication functions that allow the physical testing of the system using a KUKA YouBOT mobile manipulator and the help of a qualified operator of the station.

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Influence of mecanum wheels construction on accuracy of the omnidirectional platform navigation (on exanple of KUKA youBot robot)

Cited by 22 publications

References 7 publications

Wheeled Mobile Robots: State of the Art Overview and Kinematic Comparison Among Three Omnidirectional Locomotion Strategies

Wheeled Mobile Robots: State of the Art Overview and Kinematic Comparison Among Three Omnidirectional Locomotion Strategies

Adaptive heading correction for an industrial heavy-duty omnidirectional robot

Flexible robotic teleoperation architecture for intelligent oil fields

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