Kinematic Model of a Four Mecanum Wheeled Mobile Robot

Taheri, Hassan; Bing, Qiao; Ghaeminezhad, Nourallah

doi:10.5120/19804-1586

Cited by 80 publications

(33 citation statements)

References 1 publication

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“…In this section, a four-Mecanum-wheeled robot with symmetrical structure is taken as the research object, as shown in Figure 2, and the coordination motion relationship of each wheel is discussed [44][45][46][47]. Choosing the geometrically symmetrical center as system origin O, the rectangular coordinate system XOY fixed with the mobile platform is established.…”

Section: Kinematic Model Of Four-mecanum-wheeled Mobile Robot With Symentioning

confidence: 99%

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Dai

et al. 2019

Sensors

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In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the kinematic models of single-and multiple-robot combination systems are correct, and the inverse kinematic correction model with velocity compensation matrix is feasible. Through simulations or experiments, the velocity compensation coefficients of the robots can be measured and the velocity compensation matrix can be created. This modified inverse kinematic model can effectively reduce the errors of robot motion caused by wheel slippage and improve the motion accuracy of the mobile robot system.Sensors 2020, 20, 75 2 of 37 robot called MC-Drive, and the MC-Drive TP200 robot has been used to carry aircraft at Airbus manufacturing plants [13,14]. The KUKA omniMove UTV-2 set is a heavy-duty mobile platform with 12 Mecanum wheels that can be used to carry large objects [15]. (2) Using a combination of multiple Mecanum-wheeled robot platforms, which can be considered as a whole with cooperative omnidirectional motion and transport. Usually, mobile platforms used for cooperative transportation are symmetrically arranged. For example, a railcar body can be carried cooperatively by four KUKA omniMove mobile platforms at the Siemens plant in Krefeld, Germany [16]. The four mobile platforms are symmetrically arranged at four corners of the railcar body. Omni-directional mobile platforms with 8, 12, 16, or 32 Mecanum wheels can also be considered as specific combinations of multiple basic mobile platforms.The mature basic theory of four-Mecanum-wheeled robots is the basis of research on multi-robot systems. Muir [17][18][19] carried out basic research on Mecanum-wheeled robots and developed a kinematic and dynamic model and control on a four-Mecanum-wheeled robot. Campion et al. [20] studied structural properties and classification of kinematic and dynamic models of mobile wheeled robots and derived a motion constraint equation of a Mecanum wheel that can be used in kinematic research of multiple Mecanum-wheeled robots. Robots with four or more Mecanum wheels are overactuated systems with one or more motion constraints (wheel velocities are linearly correlated). Every additional wheel, and every additional robot, adds new motion constraints. So, the motion constraints of a multiple-Mecanum-wheeled robot system can be developed [21], which is also valid for multi-robot systems. The problem of transporting objects with a combined system is also a typical cooperative object transport problem in multi-robot systems, which is a growing rese...

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Section: Kinematic Model Of Four-mecanum-wheeled Mobile Robot With Symentioning

confidence: 99%

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Dai

et al. 2019

Sensors

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“…Control in the longitudinal direction and rotation about the circumferential direction are achieved by controlling wheel velocities using the kinematic relations derived in Equation , which follow standard forward kinematic equations in simplified form (Taheri, Qiao, & Ghaeminezhad, ), where

v_{normalx} (t)

reflects the longitudinal velocity (m/s),

v_{normaly} (t)

is the circumferential velocity (m/s),

ω_{i} (i = 1 \dots 4)

is the wheel rotation speed (rad/s),

ω_{normalz} (t)

denotes angular velocity on the x / y plane,

r

is the wheel radius (m), and

l_{normalx}, l_{normaly}

indicate the wheel separation and body length, respectively.

v_{x} (t) = (ω_{1} + ω_{2} + ω_{3} + ω_{4}) \times \frac{r}{4}, v_{y} (t) = (- ω_{1} + ω_{2} + ω_{3} - ω_{4}) \times \frac{r}{4}, ω_{z} (t) = (- ω_{1} + ω_{2} - ω_{3} + ω_{4}) \times \frac{r}{4 \times (l_{z} + l_{z})} .

…”

Section: Ndt Robot Kinematics Locomotion and Controlmentioning

confidence: 99%

Robotic pipeline wall thickness evaluation for dense nondestructive testing inspection

Miró

Ulapane

Shi

et al. 2018

Journal of Field Robotics

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This paper addresses automated mapping of the remaining wall thickness of metallic pipelines in the field by means of an inspection robot equipped with nondestructive testing (NDT) sensing. Set in the context of condition assessment of critical infrastructure, the integrity of arbitrary sections in the conduit is derived with a bespoke robot kinematic configuration that allows dense pipe wall thickness discrimination in circumferential and longitudinal direction via NDT sensing with guaranteed sensing lift-off (offset of the sensor from pipe wall) to the pipe wall, an essential barrier to overcome in cement-lined water pipelines. A tailored covariance function for pipeline cylindrical structures within the context of a Gaussian Processes has also been developed to regress missing sensor data incurred by a sampling strategy folllowed in the field to speed up the inspection times, given the slow response of the pulsed eddy current electromagnetic sensor proposed. The data gathered represent not only a visual understanding of the condition of the pipe for asset managers, but also constitute a quantative input to a remaining-life calculation that defines the likelihood of the pipeline for future renewal or repair. Results are presented from deployment of the robotic device on a series of pipeline inspections which demonstrate the feasibility of the device and sensing configuration to provide meaningful 2.5D geometric maps. K E Y W O R D S gaussian process, inspection harsh environments, mapping, NDT, pipeline robot 1 | MOTIVATION-A TAXONOMY OF NDT INSPECTION TECHNIQUES Nondestructive testing (NDT) or evaluation (NDE) is extensively used by the energy and water industry to assess the integrity of their network assets, particularly their larger and most critical conduits (generally refered to as those larger than 350 mm in diameter), in their decision-making process leading their renewal/repair/rehabilitation programs. The key advantage of NDT/NDE is that the structure of the asset is not compromised in estimating its condition. The sensing modality to use is strongly influenced by the material of the asset. Grey Cast Iron (CI) pipelines remain the bulk of the buried critical water infrastructure in the developed world as that was the material of choice for mass production with the advent of the Industrial Revolution in the middle of the 18th century (alongside its less brittle relative of Ductile Iron since 1950s), until carbon steel, asbestos cement, or plastic pipelines (PVC) among other materials made them redundant over the years. The nonhomogeneity of the CI produce means that sensing techniques widely used in the (mild) carbon steel networks in the energy pipeline sector, such as ultrasonics or electromagnetic acoustic transducers, are inadequate for CI, and the underlying techniques of most commercial propositions for CI are instead based on either magnetics (e.g., magnetic flux leakage, pulsed eddy current [PEC], and remote field eddy currents), or the study of the propagation of pressure waves in the pipeline...

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“…1b. Such omniwheel is a mecanum wheel, which means their rollers are attached to the wheel circumference with an axis of rotation of 45° to the plane of the wheel [12], Fig. 2.…”

Section: Cassino Hexapod Iii: Features and Characteristicsmentioning

confidence: 99%

A hybrid legged-wheeled obstacle avoidance strategy for service operations

et al. 2020

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Hybrid legged-wheeled robots are gaining interest in various service applications, like surveillance or inspection in hospitals. The autonomy of these robots is not only related to their power consumption, it mostly refers to their capability to safely move in complex partially structured environments. This paper proposes to investigate the combination of different moving strategies and sensors to enhance the adaptability and autonomy of a hybrid hexapod robot in specific environments shared with humans. Namely, this paper proposes a locomotion strategy that combines leg motions and Mecanum omniwheels with multiple sensory feedbacks to achieve safe obstacle avoidance during a service operation. Several experimental tests are carried out by using Cassino Hexapod III in combination with sonar, IMU and Lidar sensors at IRCCS Neuromed site in Pozzilli. Experimental results show the effectiveness of the proposed operation strategy with Cassino Hexapod III to avoid multiple obstacles.

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Kinematic Model of a Four Mecanum Wheeled Mobile Robot

Cited by 80 publications

References 1 publication

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Robotic pipeline wall thickness evaluation for dense nondestructive testing inspection

A hybrid legged-wheeled obstacle avoidance strategy for service operations

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