Open AccessSolution of Inverse and Forward Kinematics Problems for Mobile Robot with Six Mecanum Wheels
Author(s) -
Hassan M. Alwan,
А. А. Волков,
A. Shbani
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1094/1/012071
Subject(s) - mobile robot , kinematics , robot kinematics , inverse kinematics , robot , slipping , control theory (sociology) , robot calibration , engineering , computer science , simulation , control engineering , artificial intelligence , mechanical engineering , physics , classical mechanics , control (management)
The wheeled mobile robot has been considered a planner mechanism with linear and angular movement over a horizontal plane. In particular, the wheeled mobile robot’s movement is assumed to result from pure rolling of wheels without slipping. The kinematics model is one of the most fundamental steps in studying any mobile robot. This research presents the kinematic equations of movement of a mobile robot with mecanum wheels. The resulting mathematical model of a wheeled mobile robot was produced using the MATLAB R2014a program. The kinematic modeling technique was investigated by simulating a robot’s walk on a square path.