Kinematics, Dynamics, and Control of Omnidirectional Vehicles with Mecanum Wheels

198929 citationsJournal Article

Authors

G. Wampfler · Karlsruhe University of Applied Sciences

M. Salecker · Karlsruhe University of Applied Sciences

Jens Wittenburg · Karlsruhe University of Applied Sciences

Abstract

Abstract Vehicles equipped with so-called mecanum wheels can translate in any direction and rotate on the spot without slippage though the axes of the wheels are fixed in the vehicle body. This paper presents an analysis of the kinematics, dynamics, and control of such vehicles.

Topics & Keywords

Control and Dynamics of Mobile Robots

Publication Details

Published in: Mechanics of Structures and Machines

Volume 17, Issue 2, pp. 165-177

DOI: 10.1080/15397738909412814

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Kinematics, Dynamics, and Control of Omnidirectional Vehicles with Mecanum Wheels

Authors

Abstract

Topics & Keywords

Publication Details