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

Abstract

This paper formulates dynamic equations of motion of a 4-wheel mobile robot equipped with mecanum-type wheels. This new approach towards the formulation of equations has been applied by the usage of Maggi’s mathematical formalism. When describing the dynamics of the mobile robot, dynamic equations of motion have been designed by the application of Lagrange’s equations with multipliers. Lagrange’s multipliers occurring in dynamic equations of motion cause difficulties in the application of such a form to the real-time steering synthesis of the analyzed object. Maggi’s mathematical formalism has been applied to eliminate the need for multipliers. Numerical simulations of the inverse dynamics task have been conducted for the obtained dynamic motion parameters stemming from the inverse kinematics task.