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KINEMATICS OF A ROBOT-TRAILER SYSTEM WITH MECANUM WHEELS

Authors: K. Zimmermann, I. Zeidis


Abstract:

The equations for kinematic constraints for a mechanical system that consists of a four-wheeled robot with Mecanum wheels and a two-wheeled trailer with conventional wheels are presented. A trailer is attached to the mobile robot by two rigid rods that are connected by a joint. The condition that the wheels roll without slip leads to non-holonomic kinematic constraints. It is shown that the presence of the trailer changes the character of the constraints, the system stops being a Chaplygin system and the respective dynamic equations cannot be applied to it. The kinematic analysis carried out in the article leads to new dynamic models for a next step of theinvestigations.

Keywords: Mecanum wheels, mobile robots, kinematics model, non-holonomic constraints.

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