Modelling of Dynamics of a Wheeled Mobile Robot with Mecanum Wheels with the use of Lagrange Equations of the Second Kind

Z. Hendzel; Ł. Rykała

doi:10.1515/ijame-2017-0005

1/2017 vol. 22

ORIGINAL PAPER

Modelling of Dynamics of a Wheeled Mobile Robot with Mecanum Wheels with the use of Lagrange Equations of the Second Kind

Z. Hendzel ¹

Ł. Rykała ¹

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Department of Applied Mechanics and Robotics, Faculty of Mechanical Engineering and Aeronautics, Rzeszow University of Technology, al. Powstańców Warszawy 12, 35-959 Rzeszów, Poland

Online publication date: 2017-03-04

Publication date: 2017-02-01

International Journal of Applied Mechanics and Engineering 2017;22(1):81-99

DOI: https://doi.org/10.1515/ijame-2017-0005

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References (13)

KEYWORDS

wheeled mobile robots

mecanum wheels

mathematical model

ABSTRACT

The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.

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