The International Journal of Robotics Research Study, Volume 43, Issue 8, Web Page 1208-1227, July 2024.
The modeling frameworks of rollers, mecanum wheels, and mecanum rolled mobile robotics offered in the literary works usage solitary call pressure presumption. This presumption might provide great cause a simulation setting; nonetheless, it is not solid sufficient to show truth. To make an enhancement, a brand-new element of mecanum wheel design is suggested in this research. The design takes the variable roller call push into account and explores their results on the efficiency of movement of a mecanum rolled mobile robotic. It makes use of all factors on each roller’s rounded form to make sure that the slippage sensations is likewise thought about that makes it feasible to obtain much less placement evaluation mistakes in real-time procedures. The modeling framework presented objectives to show truth both in simulation and actual applications. A simulation setting is created for this research. To make confirmation, a speculative arrangement consisting of a four-mecanum-wheeled mobile robotic, its mechanical and electric software and hardware frameworks, and a ground-truth system is created and built. A Robotic Os (ROS) based control system is produced and incorporated right into the speculative system. Various sorts of referral trajectories consisting of straight-line, square-shaped, Z-shaped, and wave(S)-formed are made use of to evaluate the efficiency of the design suggested in both simulation and speculative research studies. The examinations are likewise carried out utilizing the design that entails solitary call pressure presumption to make contrasts. The information of the variable call pressures design suggested, simulation setting created, speculative arrangement constructed, simulation and speculative research studies, their outcomes, and contrasts are given up this paper.
发布者：Can Tezel，转转请注明出处：https://robotalks.cn/theoretical-and-experimental-investigation-of-variable-contact-forces-on-the-rollers-of-a-mecanum-wheeled-mobile-robot/
