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This article is cited in 1 scientific paper (total in 1 paper)
Nonlinear engineering and robotics
Criteria of Motion Without Slipping for
an Omnidirectional Mobile Robot
I. S. Mamaeva, A. A. Kilinbc, Yu. L. Karavaevda, V. A. Shestakova a Kalashnikov Izhevsk State Technical University,
ul. Studencheskaya 7, Izhevsk, 426069 Russia
b Ural Mathematical Center, Udmurt State University,
ul. Universitetskaya 1, Izhevsk, 426034 Russia
c Institute of Mathematics and Mechanics of the Ural Branch of RAS,
ul. S. Kovalevskoi 16, Ekaterinburg, 620990 Russia
d I. N. Ulianov Chuvash State University,
Moskovskii prosp. 15, Cheboksary, 428015 Russia
Abstract:
In this paper we present a study of the dynamics of a mobile robot with omnidirectional
wheels taking into account the reaction forces acting from the plane. The dynamical equations
are obtained in the form of Newton –Euler equations. In the course of the study, we formulate
structural restrictions on the position and orientation of the omnidirectional wheels and their
rollers taking into account the possibility of implementing the omnidirectional motion. We
obtain the dependence of reaction forces acting on the wheel from the supporting surface on the
parameters defining the trajectory of motion: linear and angular velocities and accelerations,
and the curvature of the trajectory of motion. A striking feature of the system considered is that
the results obtained can be formulated in terms of elementary geometry.
Keywords:
omnidirectional mobile robot, reaction force, simulation, nonholonomic model.
Received: 31.10.2021 Accepted: 20.12.2021
Citation:
I. S. Mamaev, A. A. Kilin, Yu. L. Karavaev, V. A. Shestakov, “Criteria of Motion Without Slipping for
an Omnidirectional Mobile Robot”, Rus. J. Nonlin. Dyn., 17:4 (2021), 527–546
Linking options:
https://www.mathnet.ru/eng/nd775 https://www.mathnet.ru/eng/nd/v17/i4/p527
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