Dynamic modeling and analysis of omnidirectional wheeled robot: Turning motion analysis

This paper presents the dynamic modeling of fourmecanum-wheeled mobile robot (4MWMR) to be assessed for frequent turning motion. Overdriven factor in this kind of vehicle motion is one of the issues that need to be tackled for safety and energy efficiencies reasons especially in its turning region....

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Main Authors:	Norsharimie, Adam, Addie Irawan, Hashim, Mohd Razali, Daud, Zainah, Md. Zain, S. N. S., Ali
Format:	Article
Language:	English English
Published:	UTeM 2018
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/19511/ http://umpir.ump.edu.my/id/eprint/19511/ http://umpir.ump.edu.my/id/eprint/19511/1/Dynamic%20Modeling%20and%20Analysis%20of%20Omnidirectional%20Wheeled%20Robot-%20Turning%20Motion%20Analysis.pdf http://umpir.ump.edu.my/id/eprint/19511/2/Dynamic%20Modeling%20and%20Analysis%20of%20Omnidirectional%20Wheeled%20Robot-%20Turning%20Motion%20Analysis%201.pdf

id	ump-19511
recordtype	eprints
spelling	ump-195112018-08-20T04:47:08Z http://umpir.ump.edu.my/id/eprint/19511/ Dynamic modeling and analysis of omnidirectional wheeled robot: Turning motion analysis Norsharimie, Adam Addie Irawan, Hashim Mohd Razali, Daud Zainah, Md. Zain S. N. S., Ali TK Electrical engineering. Electronics Nuclear engineering This paper presents the dynamic modeling of fourmecanum-wheeled mobile robot (4MWMR) to be assessed for frequent turning motion. Overdriven factor in this kind of vehicle motion is one of the issues that need to be tackled for safety and energy efficiencies reasons especially in its turning region. Therefore, this study has taken initiative to analyzing 4MWMR through a structure of mathematical model starting from the inverse kinematic calculation. Moreover, the dynamic model of 4MWMR was calculated using Euler Langrange approach as a part of the model for torque and force assessment. The analyses are done by using the data history of the experiment of an actual 4MWMR platform as trajectory input to kinematics and dynamics model that connected with 4MWMR transfer function plant. Finally, the performance of 4MWMR parameters; wheel velocity, torque and vehicle axial forces; are demonstrated. From the sample of turning point input the results shows that 4MWMR performing different speed of wheels at different poles during turning session as well as torques. Vehicle longitude force shows the highest since the vehicle is holonomic system used more force on longitude and latitude axes instead of rotational force on body. UTeM 2018 Article PeerReviewed pdf en cc_by http://umpir.ump.edu.my/id/eprint/19511/1/Dynamic%20Modeling%20and%20Analysis%20of%20Omnidirectional%20Wheeled%20Robot-%20Turning%20Motion%20Analysis.pdf pdf en http://umpir.ump.edu.my/id/eprint/19511/2/Dynamic%20Modeling%20and%20Analysis%20of%20Omnidirectional%20Wheeled%20Robot-%20Turning%20Motion%20Analysis%201.pdf Norsharimie, Adam and Addie Irawan, Hashim and Mohd Razali, Daud and Zainah, Md. Zain and S. N. S., Ali (2018) Dynamic modeling and analysis of omnidirectional wheeled robot: Turning motion analysis. Journal of Telecommunication, Electronic and Computer Engineering, 10 (1-3). pp. 103-108. ISSN 2180-1843 (Print); 2289-8131 (Online) http://journal.utem.edu.my/index.php/jtec/article/view/3495/2443
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Norsharimie, Adam Addie Irawan, Hashim Mohd Razali, Daud Zainah, Md. Zain S. N. S., Ali Dynamic modeling and analysis of omnidirectional wheeled robot: Turning motion analysis
description	This paper presents the dynamic modeling of fourmecanum-wheeled mobile robot (4MWMR) to be assessed for frequent turning motion. Overdriven factor in this kind of vehicle motion is one of the issues that need to be tackled for safety and energy efficiencies reasons especially in its turning region. Therefore, this study has taken initiative to analyzing 4MWMR through a structure of mathematical model starting from the inverse kinematic calculation. Moreover, the dynamic model of 4MWMR was calculated using Euler Langrange approach as a part of the model for torque and force assessment. The analyses are done by using the data history of the experiment of an actual 4MWMR platform as trajectory input to kinematics and dynamics model that connected with 4MWMR transfer function plant. Finally, the performance of 4MWMR parameters; wheel velocity, torque and vehicle axial forces; are demonstrated. From the sample of turning point input the results shows that 4MWMR performing different speed of wheels at different poles during turning session as well as torques. Vehicle longitude force shows the highest since the vehicle is holonomic system used more force on longitude and latitude axes instead of rotational force on body.
format	Article
author	Norsharimie, Adam Addie Irawan, Hashim Mohd Razali, Daud Zainah, Md. Zain S. N. S., Ali
author_facet	Norsharimie, Adam Addie Irawan, Hashim Mohd Razali, Daud Zainah, Md. Zain S. N. S., Ali
author_sort	Norsharimie, Adam
title	Dynamic modeling and analysis of omnidirectional wheeled robot: Turning motion analysis
title_short	Dynamic modeling and analysis of omnidirectional wheeled robot: Turning motion analysis
title_full	Dynamic modeling and analysis of omnidirectional wheeled robot: Turning motion analysis
title_fullStr	Dynamic modeling and analysis of omnidirectional wheeled robot: Turning motion analysis
title_full_unstemmed	Dynamic modeling and analysis of omnidirectional wheeled robot: Turning motion analysis
title_sort	dynamic modeling and analysis of omnidirectional wheeled robot: turning motion analysis
publisher	UTeM
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/19511/ http://umpir.ump.edu.my/id/eprint/19511/ http://umpir.ump.edu.my/id/eprint/19511/1/Dynamic%20Modeling%20and%20Analysis%20of%20Omnidirectional%20Wheeled%20Robot-%20Turning%20Motion%20Analysis.pdf http://umpir.ump.edu.my/id/eprint/19511/2/Dynamic%20Modeling%20and%20Analysis%20of%20Omnidirectional%20Wheeled%20Robot-%20Turning%20Motion%20Analysis%201.pdf
first_indexed	2023-09-18T22:27:52Z
last_indexed	2023-09-18T22:27:52Z
_version_	1777416087809294336

Dynamic modeling and analysis of omnidirectional wheeled robot: Turning motion analysis

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