E.Yu. Kolesnichenko
PhD in Physics and Mathematics, Russian State University for the Humanities, Research Scientist, 6, Miusskaya pl., GSP-3, Moscow, 125993, Russia, tel.: +7(916)788-40-48, This email address is being protected from spambots. You need JavaScript enabled to view it.
V.E. Pavlovsky
Doctor of Physical and Mathematical Sciences, Professor, Keldysh Institute of Applied Mathematics, Leading Research Scientist, 4, Miusskaya pl., Moscow, 125047, Russia, tel.: +7(916)146-39-87, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
In the paper a theoretical model of the multi-wheel mobile robot on mecanum-wheels is considered. The hardware implementation is also discussed. The main purpose of the work is synthesis of controlled machine movement along the curved trajectories. Mecanum-wheels (wheels with a series of rollers attached to their circumference that can move a vehicle in any direction) simplify the kinematic scheme of the machine because the vehicle doesn't need sophisticated steering mechanisms and drives. The vehicle fully preserves the control possibilities for curvilinear motion. This work shows ways of the machine control for different trajectories, in particular, for ones given by splines.
Key words
Mecanum-wheel, six-wheeled robot, spline interpolation, motion along curved trajectories.
Year 2016 Issue number 2 Consecutive issue number 11 Pages 62-69
UDC identifier: 531.1:629.032:007.52
