首页|Research from National Research University "Moscow Power Engineering Institute" Provides New Study Findings on Robotics (Analysis of Positioning Accuracy in Cas e of Design Errors in the Installation of Mecanum Wheels of the Mobile Platform)
Research from National Research University "Moscow Power Engineering Institute" Provides New Study Findings on Robotics (Analysis of Positioning Accuracy in Cas e of Design Errors in the Installation of Mecanum Wheels of the Mobile Platform)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning DailyNews-A new study on robotics is now available. Accordi ng to news originating from National ResearchUniversity "Moscow Power Engineeri ng Institute" by NewsRx correspondents, research stated, "Introduction.Mobile r obots capable of omnidirectional movement are widely used in various fields of h umanactivity. To provide high accuracy of positioning of omnidirectional platfo rms with mecanum wheels, itis required to develop their detailed mathematical m odels used in the construction of a motion controlsystem."Our news journalists obtained a quote from the research from National Research U niversity "MoscowPower Engineering Institute": "Due to the complicated design o f the mecanum wheels, various errors mayoccur during the construction of omnidi rectional platforms, including the error of installing such wheels onthe platfo rm. Its effect on the accuracy of the platform movement has not been studied bef ore. This workaims at assessing the positioning errors that arise due to the pr esence of design errors in the installationof mecanum wheels, and analyzing the effect of these errors on the accuracy of program motion testingwhen using con trol at the kinematic level. Materials and Methods. The analysis of positioning accuracywas based on mathematical modeling of the platform kinematics, taking i nto account structural errors inthe installation of mecanum wheels. To describe the relationship between the angular speeds of rotation ofthe wheels and the s peeds of the platform, the conditions of nonslip of the contact points on the su pportsurface were used. Numerical calculations were carried out in the Wolfram Mathematica package. Results.A formula was obtained for estimating errors in pl atform pseudovelocities under program control formedat the kinematic level. The estimation of the errors of the platform speeds for simple movements wascarrie d out. According to the calculation results, it has been shown that the speed er rors are significantfor robots with mecanum wheels operating autonomously. Disc ussion and Conclusion. The calculationresults demonstrated the significant impa ct of wheel installation errors on the positioning accuracy ofthe mecanum-platf orm, and confirmed the need to take into account these design errors when creati ngautonomous mecanum-platforms."
National Research University "Moscow Pow er Engineering Institute"Emerging TechnologiesMachine LearningMathematicsNano-robotRobotics
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