A Description of the Motion of a Mobile Robot with Mecanum Wheels – Kinematics

Abstract

This paper formulates kinematic equations of motion of a 4-wheel mobile robot equipped with mecanum-type wheels. It has been assumed that the motion of the robot occurs within the x-y plane. A classical approach applied in mechanics has been used for the formulation of the robot’s equations of motion. Computer simulations have been conducted with the obtained kinematics equations of motion, assuming motion through straight line tracks and tracks in the shape of a loop, and also assuming a constant robot frame orientation angle.