Research on the Dynamics of an Omnidirectional Platform Taking into Account Real Design of Mecanum Wheels (as Exemplified by KUKA youBot)
2020, Vol. 16, no. 2, pp. 291-307
Author(s): Adamov B. I., Saypulaev G. R.
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The animations a) and b) visualize the results of a numerical simulation of the movement of the youBot mecanum platform. Translucent platforms move in accordance with the non-holonomic model 1a, and opaque ones, in accordance with model 2b (the real design of Mecanum wheels and contact Coulomb friction forces are taken into account). The control torques are chosen as functions of time $M_i=M_i (t), i=1,...4,$ according to the equations of the nonholonomic model 1a from the condition for implementing the following desired motions:
a) Translational motion in the circle.
b) Lateral motion around the circle.
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