Dynamics Simulation of a Mecanum-Wheeled Omnidirectional Mobile Robots

Currently, the mecanum wheeled omnidirectional mobile robots (MOMR) are being researched and developed for application in intelligent logistics systems of complex industrial environments and tight space, which is insufficient to design turning radii for a mobile robot by advantages of a simple mechanical structure but still robot’s flexible. Thus, this paper focuses on modeling and simulating the dynamics of a MOMR when moving on an arbitrary trajectory. First, the inverse kinematic and dynamic model of a MOMR is established, taking into account the friction between the wheel and the road surface as well as the inertia force of the MOMR. Then, the dynamics simulation problem is calculated and simulated so the MOMR moves along the general Bezier trajectory in Simulink/Matlab environment. The research results have important implications in designing kinematics and dynamics controllers for MOMR to achieve high trajectory tracking accuracy at a certain velocity.