Results 171 to 180 of about 1,251 (192)
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Model and simulation of four-wheeled robot based on Mecanum wheel
International Journal of Modeling, Simulation, and Scientific Computing, 2016Based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheels, we combine these two kinds of wheels’ respective motion principle with their advantages to design a new type of four-wheeled robot: install the Mecanum wheels at the end of “[Formula: see text]”-shaped planetary wheel group.
Jianwei Zhao +4 more
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Nonlinear Control of Mecanum-Wheeled Robots Applying H∞Controller
2025 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)Mecanum wheeled mobile robots have become relevant due to their excellent maneuverability, enabling omnidirectional motion in constrained environments as a requirement in industrial automation, logistics, and service robotics. This paper addresses a low-level controller based on the H-Infinity (H∞) control method for a four-wheel Mecanum mobile robot ...
Arezki Abderrahim Chellal +5 more
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FLOCKING OF MECANUM WHEELED ROBOT CONSENSUS
2019This thesis applies flocking algorithms for the distributed consensus control of a multi-agent system composed of four-Mecanum-wheeled robots. The working mechanism of flocking is an artificial potential field consisting of attractive/repulsive forces and velocity alignment.
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Dynamics of Mechanical Systems with Mecanum Wheels
2014The kinematics and dynamics of a mechanical system with mecanum wheels is studied. A mecanum wheel is a wheel with rollers attached to its circumference. Each roller rotates about an axis that forms an angle with the plane of the disk (for the omni-wheels, the axes of the rollers lie in the plane of the wheel and in an ideal case are tangent to the ...
Klaus Zimmermann +2 more
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Calibration Method of Mecanum Wheeled Mobile Robot Odometer
2019 Chinese Automation Congress (CAC), 2019This paper described a novel method for intrinsic calibration to reduce positioning errors dynamically. The odometry errors generated by movement of mobile robot had bad effects on the function of robot, such as the path planning and SLAM. We constructed the kinematic and dynamic of mecanum wheels.
Yipeng Tu, Huasong Min
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Robust Tracking Control of Omni-Mecanum Wheeled Robot
2021This paper presents an approach to the problem of controlling mechanical objects of unspecified description, considering variable operating conditions. The controlled object is a mobile robot with mecanum wheels. The control algorithm is based on the input-output linearization method and variable structure control approach.
Zenon Hendzel, Maciej Kołodziej
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Mechanics of Mobile Robots with Mecanum Wheels
2016The mechanics of a robot with Mecanum wheels is studied. A Mecanum wheel is a wheel with rollers attached to its circumference. Each roller rotates about an axis that forms an angle with the plane of the disk. In robotics, a simplified approach, in which the equations of non-holonomic kinematic constraints are solved approximately by means of a pseudo ...
Klaus Zimmermann +3 more
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Autonomous Vehicle Control System Based on Mecanum Wheel
2020The design of the autonomous vehicle control system of Mecanum wheel adopts the idea of modular design. It takes TMS320F2812 as the core of the control module, adopts PWM pulse to control the speed of the DC motor, and uses the photoelectric code disc to convert the motor speed into pulse frequency and feed back to the control module, so as to realize ...
Yanchun Cheng +4 more
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Integrating Mecanum wheeled omni-directional mobile robots in ROS
2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2016This paper presents a designing scheme of the omni-directional mobile robot basing on the ROS (Robot Operating System). As a ground platform, the robot is built with an embedded personal computer (PC) and an Arduino MEGA 2560 controller board, which serve as the center calculation and control unit, so the control structure is very simple.
Yubo Feng +3 more
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Synthesized Optimal Control for Mecanum-wheeled Robot
2022 8th International Conference on Control, Decision and Information Technologies (CoDIT), 2022Elizaveta Shmalko, Askhat Diveev
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