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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 Tlale, NS
dc.date.accessioned 2012-02-24T10:59:15Z
dc.date.available 2012-02-24T10:59:15Z
dc.date.issued 2012-01
dc.identifier.citation De Villers, M and Tlale, NS. 2012. Development of a control model for a four wheel mecanum vehicle. Journal of Dynamic Systems, Measurement, and Control, vol. 134(1) en_US
dc.identifier.issn 0022-0434
dc.identifier.uri DOI:10.1115/1.4005273
dc.identifier.uri http://hdl.handle.net/10204/5597
dc.description Copyright: 2012 ASME. This is an ABSTRACT ONLY en_US
dc.description.abstract In this paper, a refined control model for a Mecanum-wheeled mobile robot is developed and presented. Available control models in literature for Mecanum-wheeled mobile robots 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 mobile robot employing these wheels and impacts the efficiency of locomotion of mobile robots using Mecanum wheels. The control model proposed in this paper 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. The developed control model is verified with experimental results. Using the refined model, control of Mecanum-wheeled mobile robot is made more more predictable and accurate. en_US
dc.language.iso en en_US
dc.publisher American Society of Mechanical Engineers (ASME) en_US
dc.relation.ispartofseries Workflow;8116
dc.subject Mecanum wheel en_US
dc.subject Dynamics modelling en_US
dc.subject Dynamic systems en_US
dc.subject Mecanum robot en_US
dc.subject Kinematics en_US
dc.subject Mecanum-wheeled mobile robot en_US
dc.title Development of a control model for a four wheel mecanum vehicle en_US
dc.type Article en_US
dc.identifier.apacitation De Villiers, M., & Tlale, N. (2012). Development of a control model for a four wheel mecanum vehicle. http://hdl.handle.net/10204/5597 en_ZA
dc.identifier.chicagocitation De Villiers, M, and NS Tlale "Development of a control model for a four wheel mecanum vehicle." (2012) http://hdl.handle.net/10204/5597 en_ZA
dc.identifier.vancouvercitation De Villiers M, Tlale N. Development of a control model for a four wheel mecanum vehicle. 2012; http://hdl.handle.net/10204/5597. en_ZA
dc.identifier.ris TY - Article AU - De Villiers, M AU - Tlale, NS AB - In this paper, a refined control model for a Mecanum-wheeled mobile robot is developed and presented. Available control models in literature for Mecanum-wheeled mobile robots 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 mobile robot employing these wheels and impacts the efficiency of locomotion of mobile robots using Mecanum wheels. The control model proposed in this paper 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. The developed control model is verified with experimental results. Using the refined model, control of Mecanum-wheeled mobile robot is made more more predictable and accurate. DA - 2012-01 DB - ResearchSpace DP - CSIR KW - Mecanum wheel KW - Dynamics modelling KW - Dynamic systems KW - Mecanum robot KW - Kinematics KW - Mecanum-wheeled mobile robot LK - https://researchspace.csir.co.za PY - 2012 SM - 0022-0434 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/10204/5597 ER - en_ZA


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