Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation
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.
| Medienart: |
E-Artikel |
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| Erscheinungsjahr: |
2019 |
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| Erschienen: |
2019 |
| Enthalten in: |
Zur Gesamtaufnahme - volume:20 |
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| Enthalten in: |
Sensors (Basel, Switzerland) - 20(2019), 1 vom: 21. Dez. |
| Sprache: |
Englisch |
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| Beteiligte Personen: |
Li, Yunwang [VerfasserIn] |
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| Links: |
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| Themen: |
Cooperative motion |
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| Anmerkungen: |
Date Completed 30.12.2019 Date Revised 28.03.2024 published: Electronic Citation Status PubMed-not-MEDLINE |
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| doi: |
10.3390/s20010075 |
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| funding: |
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| Förderinstitution / Projekttitel: |
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| PPN (Katalog-ID): |
NLM304778281 |
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| 245 | 1 | 0 | |a Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation |
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| 500 | |a Date Revised 28.03.2024 | ||
| 500 | |a published: Electronic | ||
| 500 | |a Citation Status PubMed-not-MEDLINE | ||
| 520 | |a 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 | ||
| 650 | 4 | |a Journal Article | |
| 650 | 4 | |a Mecanum-wheeled robot | |
| 650 | 4 | |a cooperative motion | |
| 650 | 4 | |a kinematic model | |
| 650 | 4 | |a robot combination system | |
| 650 | 4 | |a velocity compensation | |
| 700 | 1 | |a Ge, Shirong |e verfasserin |4 aut | |
| 700 | 1 | |a Dai, Sumei |e verfasserin |4 aut | |
| 700 | 1 | |a Zhao, Lala |e verfasserin |4 aut | |
| 700 | 1 | |a Yan, Xucong |e verfasserin |4 aut | |
| 700 | 1 | |a Zheng, Yuwei |e verfasserin |4 aut | |
| 700 | 1 | |a Shi, Yong |e verfasserin |4 aut | |
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