TY - JOUR
T1 - Kinematic modeling of a combined system of multiple mecanum-wheeled robots with velocity compensation
AU - Li, Yunwang
AU - Ge, Shirong
AU - Dai, Sumei
AU - Zhao, Lala
AU - Yan, Xucong
AU - Zheng, Yuwei
AU - Shi, Yong
N1 - Publisher Copyright:
© 2019 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2020/1/1
Y1 - 2020/1/1
N2 - 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.
AB - 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.
KW - Cooperative motion
KW - Kinematic model
KW - Mecanum-wheeled robot
KW - Robot combination system
KW - Velocity compensation
UR - http://www.scopus.com/inward/record.url?scp=85077292896&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85077292896&partnerID=8YFLogxK
U2 - 10.3390/s20010075
DO - 10.3390/s20010075
M3 - Article
C2 - 31877752
AN - SCOPUS:85077292896
SN - 1424-8220
VL - 20
JO - Sensors (Switzerland)
JF - Sensors (Switzerland)
IS - 1
M1 - 75
ER -