Académique Documents
Professionnel Documents
Culture Documents
Bing Qiao
Nurallah Ghaeminezhad
College of Astronautics
NUAA
Nanjing
China
College of Automation
NUAA
Nanjing
China
ABSTRACT
2. KINEMATIC
Keywords
Omnidirectional, four Mecanum wheeled robot, mobile robot,
kinematic.
1. INTRODUCTION
Omni-differential locomotion is being using in current mobile
robots in order to obtain the additional maneuverability and
productivity. These features are expanded at the expense of
improved mechanical complication and increased complexity
in control mechanism. Omni-differential systems work by
applying rotating force of each individual wheel in one
direction similar to regular wheels with a different in the fact
that Omni-differential systems are able to slide freely in a
different direction, in other word, they can slide frequently
perpendicular to the torque vector. The main advantage of
using Omni-drive systems is that translational and rotational
motions are decoupled for simple motion although in making
an allowance for the fastest possible motion this is not
essentially the case.
(Distance of the
1
0
1
0
0
.
1
= .
0
1
eq. 6
Where:
the
velocity
vector
eq. 7
, = 0,1,2,3.
=
eq. 8
As 0 , 0 < < 2 , 0,
0 hence, by merging equations 4 and 6 the robots base
velocity (at point O) related to the rotational velocity of the ith
wheel can be obtained from eq. 9.
1 . 1 .
, = 0,1,2,3.
eq. 9
45
, = [4], = 0,1,2,3.
eq. 1
= + cos .
=
sin
cos
eq. 10
eq. 11
1 . 1 . ,
cos
sin
sin
cos
+ = ( )1 .
sin
cos
1
0
0
1
= sin .
Where =
= +
eq. 2
eq. 12
sin
.
cos
eq. 3
cos
sin
sin
cos
. eq. 4
cos
sin
sin
.
cos
[5]
eq. 5
eq. 13
Since there is a relation between independent variables
and in each joint and the systems angular and linear
velocity, assuming that there is no wheel slipping on the
ground, the system inverse kinematic can be obtained by
eq.14.
1
2
1
3 =
4
cos (1 1 )
sin (1 1 )
1 sin (1 1 1 )
1
cos (2 2 )
1
sin (2 2 )
1
2 sin (2 2 2 )
2
cos (3 3 )
2
sin (3 3 )
2
3 sin (3 3 3 )
3
cos (4 4 )
3
sin (4 4 )
3
4 sin (4 4 4 )
1 1
1
1
1
1
1 1
eq.14
eq.15 shows the Jacobian matrix for the systems inverse
kinematic:
cos (1 1 )
sin (1 1 )
1 sin (1 1 1 )
1
cos (2 2 )
1
sin (2 2 )
1
2 sin (2 2 2 )
2
cos (3 3 )
2
sin (3 3 )
2
3 sin (3 3 3 )
3
cos (4 4 )
3
sin (4 4 )
3
4 sin (4 4 4 )
= +
1
1
eq. 15
eq. 16
3 =
1sw
2sw
3sw
4sw
4
4
4
4
2
2
2
2
eq. 18
( + )
( + )
.
( + )
( + )
eq. 19
eq. 20
And
1
1
=
1
4
( +
1
1
1
( + )
1
1
1
1
( + )
( + )
1
2
3
4
eq. 21
Longitudinal Velocity:
= 1 + 2 + 3 + 4 .
eq. 22
Transversal Velocity:
t = 1 + 2 + 3 4 .
eq. 23
Angular velocity:
= 1 + 2 3 + 4 .
4 +
eq. 24
+ .
eq. 25
eq. 26
4. EXPERIMENTAL RESULTS
( + )
+ + .
( + )
+ + ,
1
1
+ + + ,
= tan1
( + )
1
1
+ ,
3. FOUR MECANUM
OMNIDIRECTIONAL SOLUTION
( + )
1 =
4 =
Wheels
1
1
1 1
1
1
1
1
1 1
1
2
1
3 =
4
2 =
eq. 17
( + )
( + )
,
( + )
( + )
-5
9.74
9.74
Right
diagonal
backward
-5
-5
-9.74
-9.74
5. CONCLUSION
6. REFERENCES
Direction
Wheel1
Forward
4.87
4.87
4.87
4.87
Backward -5
-4.87
- 4.87
- 4.87
- 4.87
Left
-4.87
4.87
4.87
-4.87
Right
-5
4.87
-4.87
-4.87
4.87
Left
diagonal
forward
9.74
9.74
Left
diagonal
-5
Wheel2 Wheel3
Right
diagonal
forward
Wheel4
-9.74
IJCATM : www.ijcaonline.org
-9.74