Аннотация:
The object of the study is the mobile platform of the KUKA youBot robot equipped with four Mecanum wheels. The ideal conditions for the point contact of the wheels and the floor are considered. It is assumed that the rollers of each Mecanum wheel move without slipping and the center of the wheel, the center of the roller axis, and the point of contact of the roller with the floor are located on the same straight line. The dynamics of the system is described using Appel’s equations and taking into account the linear forces of viscous friction in the joints of the bodies. An algorithm for determination of the control forces is designed. Their structure is the same as that of the reactions of ideal constraints determined by the program motion of the point of the platform. The controlled dynamics of the system is studied using uniform circular motion of the platform point as an example: conditions for the existence and stability of steady rotations are found, conditions for the existence of stable-unstable stationary regimes and rotational motions of the platform are obtained. Within the framework of the theory of singular perturbations, an asymptotic analysis of the rotation of the platform is carried out.
\RBibitem{Ada18}
\by B. I. Adamov
\paper A Study of the Controlled Motion of a Four-wheeled Mecanum Platform
\jour Нелинейная динам.
\yr 2018
\vol 14
\issue 2
\pages 265--290
\mathnet{http://mi.mathnet.ru/nd612}
\crossref{https://doi.org/10.20537/nd180209}
\elib{https://elibrary.ru/item.asp?id=35417130}
\scopus{https://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85051247007}
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https://www.mathnet.ru/rus/nd612
https://www.mathnet.ru/rus/nd/v14/i2/p265
Эта публикация цитируется в следующих 14 статьяx:
Can Tezel, Gokhan Bayar, “Theoretical and experimental investigation of variable contact forces on the rollers of a mecanum wheeled mobile robot”, The International Journal of Robotics Research, 2024
Ekaterina D. Shchigol, Gasan R. Saypulaev, Yevgeniy Y. Chakheev, 2024 7th International Conference on Information Technologies in Engineering Education (Inforino), 2024, 1
Г. Р. Сайпулаев, Б. И. Адамов, А. И. Кобрин, “ОБ ОДНОЙ ДИНАМИЧЕСКИ СОГЛАСОВАННОЙ МОДЕЛИ НОРМАЛЬНЫХ РЕАКЦИЙ В ТОЧКАХ КОНТАКТА МОБИЛЬНОЙ ПЛАТФОРМЫ С ПОВЕРХНОСТЬЮ ПРИ УЧЕТЕ КОНСТРУКЦИИ МЕКАНУМ-КОЛЕС И ПОЛИКОМПОНЕНТНОГО ТРЕНИЯ”, Известия Российской академии наук. Механика твердого тела, 2023, № 5, 15
Aleksandr Andreev, Katherine Sutyrkina, 2023 5th International Conference on Control Systems, Mathematical Modeling, Automation and Energy Efficiency (SUMMA), 2023, 125
G. V. Pankrateva, A. E. Mordin, G. R. Saypulaev, “Analysis of Positioning Accuracy in Case of Design Errors in the Installation of Mecanum Wheels of the Mobile Platform”, Vestnik Donskogo gosudarstvennogo tehničeskogo universiteta, 23:4 (2023), 356
G. R. Saipulaev, B. I. Adamov, A. I. Kobrin, “A Dynamicly Consistent Model of Normal Reactions at Points of a Mobile Platform Contact with a Surface Taking Account of the Design of Mecanum Wheels and Multicomponent Friction”, Mech. Solids, 58:5 (2023), 1447
Boris I. Adamov, Gasan R. Saypulaev, 2021 International Conference “Nonlinearity, Information and Robotics” (NIR), 2021, 1
Vyacheslav A. Shestakov, Ivan S. Mamaev, Yury L. Karavaev, 2021 International Conference “Nonlinearity, Information and Robotics” (NIR), 2021, 1
G. Bayar, S. Ozturk, “Investigation of the effects of contact forces acting on rollers of a mecanum wheeled robot”, Mechatronics, 72 (2020), 102467
Yu. Li, Sh. Ge, S. Dai, L. Zhao, X. Yan, Yu. Zheng, Y. Shi, “Kinematic modeling of a combined system of multiple mecanum-wheeled robots with velocity compensation”, Sensors, 20:1 (2020), 75
Boris I. Adamov, Gasan R. Saypulaev, 2020 International Conference Nonlinearity, Information and Robotics (NIR), 2020, 1
Olga Peregudova, Katherine Sutyrkina, Rezeda Hasanova, Irina Kudashkina, 2020 2nd International Conference on Control Systems, Mathematical Modeling, Automation and Energy Efficiency (SUMMA), 2020, 111
Vyacheslav A. Shestakov, Ivan S. Mamaev, Yury L. Karavaev, 2020 International Conference Nonlinearity, Information and Robotics (NIR), 2020, 1
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