Title :
Design and development of an autonomous omni-directional mobile robot with Mecanum wheels
Author :
Tatar, Mihai Olimpiu ; Popovici, Catalin ; Mandru, Dan ; Ardelean, Ioan ; Plesa, Alin
Author_Institution :
Dept. of Mechatron. & Machine Dynamics, Tech. Univ. of Cluj-Napoca, Cluj-Napoca, Romania
Abstract :
In this paper the authors are presenting an omni-directional mobile robot, developed for educational and research purposes. The omni-directional motion capabilities of the robot are due to its special Mecanum wheels. The paper provides general information about Mecanum omni-directional wheels, mechanical design aspects of the wheels and the robot and it also describes the kinematic and dynamic models of the robot and the control system.
Keywords :
mobile robots; motion control; robot dynamics; robot kinematics; wheels; Mecanum wheel; autonomous omni-directional mobile robot; dynamic model; kinematic model; mechanical design aspect; omni-directional motion; omni-directional wheel; Equations; Kinematics; Mathematical model; Mobile robots; Robot kinematics; Wheels; Mecanum wheel; Omni-directional; Robot;
Conference_Titel :
Automation, Quality and Testing, Robotics, 2014 IEEE International Conference on
Conference_Location :
Cluj-Napoca
Print_ISBN :
978-1-4799-3731-8
DOI :
10.1109/AQTR.2014.6857869
