Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels
Applied Sciences (Switzerland), 2022 This study designed an algorithm for the intelligent control of the motion of a mobile robot with mecanum wheels. After reviewing the model kinematics and dynamics of the robot, we conducted a synthesis of the neural control algorithm to determine ...
Marcin Szuster, Mateusz Szeremeta
exaly +4 more sources
Analysis of Kinematic Constraints in the Linkage Model of a Mecanum-Wheeled Robot and a Trailer with Conventional Wheels [PDF]
Applied Sciences (Switzerland), 2023 Mechanical systems that consist of a four-wheeled or two-wheeled robot with Mecanum wheels and a two-wheeled trailer with conventional wheels are considered. The kinematic characteristics of the mechanical systems under consideration of holonomic and non-
Igor Zeidis
exaly +4 more sources
Dynamics of a four‐wheeled mobile robot with Mecanum wheels [PDF]
ZAMM Zeitschrift Fur Angewandte Mathematik Und Mechanik, 2019 AbstractThe paper deals with the dynamics of a mobile robot with four Mecanum wheels. For such a system the kinematical rolling conditions lead to non‐holonomic constraints. From the framework of non‐holonomic mechanics Chaplygin's equation is used to obtain the exact equation of motion for the robot.
Igor Zeidis
exaly +5 more sources
A Dexterous Hand for Omnidirectional In-Hand Manipulation: Design, Analysis and Experimental Validation [PDF]
BiomimeticsTraditional dexterous hands can readily grasp objects but face limitations in dexterous manipulation due to complex control systems and high actuation demands. This paper presents a novel dexterous hand designed to address these challenges.
Huaiyong Li +4 more
doaj +2 more sources
Adaptive heading correction for an industrial heavy-duty omnidirectional robot [PDF]
Scientific Reports, 2022 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 ...
Rocco Galati +2 more
doaj +2 more sources
Controlling a Mecanum-Wheeled Robot with Multiple Swivel Axes Controlled by Three Commands [PDF]
SensorsThe Mecanum-wheeled robot has four special wheels. It can control four wheels independently and has seven turning axes. The robot can translate in all directions and travel in curves without changing its direction by means of the control commands for ...
Yuto Nakagawa +2 more
doaj +2 more sources
A comprehensive study on Mecanum wheel-based mobility and suspension solutions for intelligent nursing wheelchairs [PDF]
Scientific ReportsIntelligent nursing wheelchairs significantly enhance mobility and independence for elderly individuals with disabilities. However, traditional designs often suffer from large turning radii that restrict their functionality in confined spaces. Addressing
Zhang Zhewen +4 more
doaj +2 more sources
Modeling and Control of Wheeled Mobile Robot With Four Mecanum Wheels [PDF]
Engineering and Technology Journal, 2021 This work presents a driving control for the trajectory tracking of four mecanum wheeled mobile robot (FMWMR). The control consists of Backstepping-Type 1 Fuzzy Logic-Particle swarm optimization i.e.,(BSC-T1FLC-PSO). The kinematic and dynamic models have
Sameh Hasana, Hasan Alwan
doaj +2 more sources
Real-time navigation of mecanum wheel-based mobile robot in a dynamic environment [PDF]
HeliyonPath planning and control of a mobile robot, in a dynamic environment, has been an important research topic for many years. In this paper an algorithm for autonomous motion of a mobile robot is proposed, with mecanum wheels, to reach a goal while ...
Muhammad Umair Shafiq +6 more
doaj +2 more sources
Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients [PDF]
Sensors, 2021 This paper proposes an actuator fault detection method for unmanned ground vehicle (UGV) dynamics with four mecanum wheels. The actuator fault detection method is based on unknown input observers for linear parameter varying systems.
Gyujin Na, Yongsoon Eun
doaj +2 more sources