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Development of a control model for a four wheel mecanum vehicle

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dc.contributor.author De Villiers, M
dc.contributor.author Bright, G
dc.date.accessioned 2010-11-08T14:38:59Z
dc.date.available 2010-11-08T14:38:59Z
dc.date.issued 2010-07
dc.identifier.citation De Villiers, M and Bright, G. 2010. Development of a control model for a four wheel mecanum vehicle. 25th International Conference of CAD/CAM, Robotics and Factories of the Future, Pretoria, South Africa, 13-16 July 2010, pp 10 en
dc.identifier.isbn 978-0-620-46582-3
dc.identifier.uri http://hdl.handle.net/10204/4545
dc.description 25th International Conference of CAD/CAM, Robotics and Factories of the Future, Pretoria, South Africa, 13-16 July 2010 en
dc.description.abstract This paper presents the development of a control model for Mecanum wheels. Available control models used in robotics are based on a simplification which defines the contact point of the wheel on the ground as the point in the centre of the wheel, which does not vary. This limits the smoothness of motion of a vehicle employing these wheels and impacts the efficiency of locomotion of vehicles using Mecanum wheels. The control model proposed accounts for the fact that the contact point in fact changes position down the axle of the wheel as the angle roller moves on the ground. Taking this into consideration makes control of the wheels more predictable and accurate en
dc.language.iso en en
dc.subject Mecanum wheel en
dc.subject Kinematics modelling en
dc.subject Dynamics modelling en
dc.subject Robotics en
dc.title Development of a control model for a four wheel mecanum vehicle en
dc.type Conference Presentation en
dc.identifier.apacitation De Villiers, M., & Bright, G. (2010). Development of a control model for a four wheel mecanum vehicle. http://hdl.handle.net/10204/4545 en_ZA
dc.identifier.chicagocitation De Villiers, M, and G Bright. "Development of a control model for a four wheel mecanum vehicle." (2010): http://hdl.handle.net/10204/4545 en_ZA
dc.identifier.vancouvercitation De Villiers M, Bright G, Development of a control model for a four wheel mecanum vehicle; 2010. http://hdl.handle.net/10204/4545 . en_ZA
dc.identifier.ris TY - Conference Presentation AU - De Villiers, M AU - Bright, G AB - This paper presents the development of a control model for Mecanum wheels. Available control models used in robotics are based on a simplification which defines the contact point of the wheel on the ground as the point in the centre of the wheel, which does not vary. This limits the smoothness of motion of a vehicle employing these wheels and impacts the efficiency of locomotion of vehicles using Mecanum wheels. The control model proposed accounts for the fact that the contact point in fact changes position down the axle of the wheel as the angle roller moves on the ground. Taking this into consideration makes control of the wheels more predictable and accurate DA - 2010-07 DB - ResearchSpace DP - CSIR KW - Mecanum wheel KW - Kinematics modelling KW - Dynamics modelling KW - Robotics LK - https://researchspace.csir.co.za PY - 2010 SM - 978-0-620-46582-3 T1 - Development of a control model for a four wheel mecanum vehicle TI - Development of a control model for a four wheel mecanum vehicle UR - http://hdl.handle.net/10204/4545 ER - en_ZA


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