Development of the Laboratory Work: “Modeling of a Mobile Robot on Mecanum Wheels Kinematics”

Bauman Moscow State Technical University, 2nd Baumanskaya str., 5/1, 105005, Moscow, Russia

^* Corresponding author: rubtsov@mail.ru

Abstract

The basis of any mobile robot is the chassis of a structure. The chassis is a set of parts that provide the mechanical energy transfer from the engines to the engine active elements, combined with the drives in a functional structural subsystem. The chassis and the applied propulsion determine both the mobile robot design appearance and its functional capabilities, the main of which is the ability to move in given conditions. Omnicycle movement is used in modern robotics to get additional maneuverability of the device in combination with increasing the efficiency of using a limited level of energy. Such systems allow for omnidirectional movement by applying an individual torque to the drive of each wheel. The main advantage of the kinematics of such robots is the fact that the complex movement of the entire system can easily be divided into simple rotational and translational movements. This article discusses the design features and the mecanum wheel kinematics. We solve direct and inverse kinematics problems for a four-wheeled mobile robot with this type of propellers on a flat surface. Based on the got dependencies, we built a mathematical model in the Matlab Simulink environment using an additional Mobile Robotics Simulation Toolbox package. Using the obtained model, we developed the simplest trajectory elements and synthesized algorithms for managing the mobile platform. Also, we analyzed the results got during a series of computer tests.