Evaluation of velocity and acceleration effect on mecanum wheel robot positioning

• Autorzy: Bączyk Aleksander , Wojtowicz Przemysław , Klekiel Tomasz

Identyfikatory

DOI

10.2478/ijame-2022-0033

• Języki publikacji: EN

Abstrakty

EN

In this paper, a Mecanum wheel omnidirectional robotic platform made for taking measurements in harsh and dangerous conditions is introduced. Due to the necessity of highly accurate displacement of the platform for measuring the conditions at the exact measurement point and due to known Mecanum wheel slippage and relatively poor position accuracy, a calibration procedure for minimizing positioning error had to be implemented. For this task, a highly accurate stereographic digital image correlation (DIC) system was used to measure platform displacement. A series of parameters, namely linear maximum velocity and acceleration/deceleration values, were taken into account during the calibration procedure to find the best combination allowing precise movement of the robot. It was found that low acceleration values were the main causes of the robot’s poor positioning accuracy and could cause the robot’s motors to stall. Max speed values proved to have little effect on the robot’s positioning.

Słowa kluczowe

EN

robot; mecanum wheel; calibration; optical measurements

PL

robot; kalibracja; pomiar optyczny

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2022
• Tom: Vol. 27, no. 3
• Strony: 22--35
• Opis fizyczny: Bibliogr. 13 poz., fot., tab., wykr.

Twórcy

autor

Bączyk Aleksander

• University of Zielona Góra, prof. Szafrana 4, Zielona Góra, POLAND

autor

Wojtowicz Przemysław

• University of Zielona Góra, prof. Szafrana 4, Zielona Góra, POLAND

autor

Klekiel Tomasz

• University of Zielona Góra, prof. Szafrana 4, Zielona Góra, POLAND

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023)