@inbook{e224edf7729b4aad842150599e2494cf,
title = "Mechanics of Mobile Robots with Mecanum Wheels",
abstract = "The mechanics of a robot with Mecanum wheels is studied. A Mecanum wheel is a wheel with rollers attached to its circumference. Each roller rotates about an axis that forms an angle with the plane of the disk. In robotics, a simplified approach, in which the equations of non-holonomic kinematic constraints are solved approximately by means of a pseudo-inverse matrix, is frequently applied. Such an approximate approach leads to “holonomization” of the system and allows Lagrange{\textquoteright}s equations of the second kind to be used. In the present paper, the equations of motion are obtained on the basis of the principles of non-holonomic mechanics. The optimal torques to be applied to the wheels and the respective voltages to be fed to the electric in order to provide a prescribed trajectory for the robot{\textquoteright}s center of mass are defined. The theoretical results are compared with measured data obtained by experiments with a prototype.",
keywords = "Conventional Wheel, Omnidirectional Wheel, Optimal Torque, Prescribe Trajectory, Respective Voltage",
author = "Klaus Zimmermann and Igor Zeidis and Florian Schale and Flores-Alvarez, \{Pedro Alonso\}",
note = "Publisher Copyright: {\textcopyright} 2016, CISM International Centre for Mechanical Sciences.",
year = "2016",
doi = "10.1007/978-3-319-33714-2\_12",
language = "English",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer International Publishing",
pages = "103--111",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
}