NDLI: Inverse kinematic implementation of four-wheels mecanum drive mobile robot using stepper motors

Content Provider	IEEE Xplore Digital Library
Author	Maulana, E. Muslim, M.A. Hendrayawan, V.
Copyright Year	2015
Description	Author affiliation: Dept. of Electr. Eng., Brawijaya Univ., Malang, Indonesia (Maulana, E.; Muslim, M.A.; Hendrayawan, V.)
Abstract	An implementation of inverse kinematic model is applied for the mobile robot using four-wheels mecanum drive. The implementation is designed for omni-directional movement without changes the robot position on a facing direction. Four stepper motors are used to drive the mecanum wheels due to these types have a good precision. This speed control feedback is not necessary. The radius of the mobile robot dimension is defined by the same distance of a and b length between wheel axis and body center of 170 mm. The inverse kinematic is conducted to control the mobile robot movement and to convert the robot velocity component of $v_{x},$ $v_{y},$ and ω toward angular velocity each wheels of $ω_{1},$ $ω_{2},$ $ω_{3},$ $ω_{4}$ and wheel turn direction. Kinematic calculation and control mechanism are proceed by a master microcontroller and multi-slave microcontrollers which connected using SPI communication protocol. The theta angle θ is described by $v_{x}$ and $v_{y}$ vector velocity direction toward center point of the mobile robot. The movement capabilities are performed by linear direction according to the certain angle of the robot movement θ of 0° to each multiples of 45° thus obtained wheel velocity and angle movement average errors.
Starting Page	51
Ending Page	56
File Size	1125784
Page Count	6
File Format	PDF
ISBN	9781479977109
e-ISBN	9781479977116
DOI	10.1109/ISITIA.2015.7219952
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-20
Publisher Place	Indonesia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile Robot Four-Wheel Mecanum Drive Navigation Conferences Inverse Kinematics Measurement uncertainty Wheels Mobile communication Mobile robots
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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