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Kinematics and dynamics modelling of a mecanum wheeled mobile platform

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dc.contributor.author Tlale, NS
dc.contributor.author De Villiers, M
dc.date.accessioned 2009-01-08T11:21:57Z
dc.date.available 2009-01-08T11:21:57Z
dc.date.issued 2008-12
dc.identifier.citation Tlale, NS and De Villiers, M. 2008. Kinematics and dynamics modelling of a mecanum wheeled mobile platform. 15th International Conference on Mechatronics and Machine Vision in Practice. Auckland, New Zealand, 2-4 December 2008. pp 703-708 en
dc.identifier.isbn 978-0-473-13532-4 en
dc.identifier.uri http://hdl.handle.net/10204/2771
dc.description 15th International Conference on Mechatronics and Machine Vision in Practice. Auckland, New Zealand, 2-4 December 2008. en
dc.description.abstract Omni-directional mobile platforms have the ability to move instantaneously in any direction from any configuration. As such, it is important to have a mathematical model of the platform, especially if the platform is to be used as an autonomous vehicle. Autonomous behaviour requires that the mobile robot choose the optimum vehicle motion in different situations for object/collision avoidance and task achievement. This paper develops and verifies a mathematical model of a mobile robot platform that implements mecanum wheels to achieve omni-directionality. The mathematical model will be used to achieve optimum autonomous control of the developed mobile robot as an office service robot. Omni-directional mobile platforms have improved performance in congested environments and narrow aisles, such as those found in factory workshops, offices, warehouses and hospitals. en
dc.language.iso en en
dc.subject Automatic guided vehicle (AGV) en
dc.subject Mecanum wheel en
dc.subject Kinematics modelling en
dc.subject Omni-directionality en
dc.title Kinematics and dynamics modelling of a mecanum wheeled mobile platform en
dc.type Conference Presentation en
dc.identifier.apacitation Tlale, N., & De Villiers, M. (2008). Kinematics and dynamics modelling of a mecanum wheeled mobile platform. http://hdl.handle.net/10204/2771 en_ZA
dc.identifier.chicagocitation Tlale, NS, and M De Villiers. "Kinematics and dynamics modelling of a mecanum wheeled mobile platform." (2008): http://hdl.handle.net/10204/2771 en_ZA
dc.identifier.vancouvercitation Tlale N, De Villiers M, Kinematics and dynamics modelling of a mecanum wheeled mobile platform; 2008. http://hdl.handle.net/10204/2771 . en_ZA
dc.identifier.ris TY - Conference Presentation AU - Tlale, NS AU - De Villiers, M AB - Omni-directional mobile platforms have the ability to move instantaneously in any direction from any configuration. As such, it is important to have a mathematical model of the platform, especially if the platform is to be used as an autonomous vehicle. Autonomous behaviour requires that the mobile robot choose the optimum vehicle motion in different situations for object/collision avoidance and task achievement. This paper develops and verifies a mathematical model of a mobile robot platform that implements mecanum wheels to achieve omni-directionality. The mathematical model will be used to achieve optimum autonomous control of the developed mobile robot as an office service robot. Omni-directional mobile platforms have improved performance in congested environments and narrow aisles, such as those found in factory workshops, offices, warehouses and hospitals. DA - 2008-12 DB - ResearchSpace DP - CSIR KW - Automatic guided vehicle (AGV) KW - Mecanum wheel KW - Kinematics modelling KW - Omni-directionality LK - https://researchspace.csir.co.za PY - 2008 SM - 978-0-473-13532-4 T1 - Kinematics and dynamics modelling of a mecanum wheeled mobile platform TI - Kinematics and dynamics modelling of a mecanum wheeled mobile platform UR - http://hdl.handle.net/10204/2771 ER - en_ZA


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