Analysis of a Mecanum Wheeled Mobile Robot Control in Nondeterministic Values of the State Space Matrix

The article deals with investigation of the dynamic characteristics of a four-wheeled mobile robot. The dynamic characteristics have been studied for various variants (configurations) of the arrangement of mecanum wheels when maneuvering along a nonlinear trajectory. Possible configurations for placing mecanum wheels in the robot are determined and their controllability is theoretically assumed by analyzing the state space matrix. An algorithm for controlling a mobile robot along a trajectory with changing initial values of the state matrix is propos ed. The dynamic characteristics of the robot were obtained: dependences of the positioning error, the angle of deviation of the robot body from the initial coordinates, and the angular speeds of the wheels for each variant. A comparative analysis of the obtained modeling results was carried out, as a result of which it was established that symmetric configurations with a full rank of the state matrix have the best controllability, and other configurations may have limited distribution. It is shown that the assessment of the controllability of the mecanum wheels configurations in a four-wheeled robot must be supported by the results of an experiment using a dynamic model of robot motion. As a method for increasing dynamic performance in transient and steady-state modes, it was recommended to use an astatic position loop, and an increase in the quality of regulation of the speed loop of the electric drives of the mecanum wheels can be achieved by using a PID controller, which is valid for any values of the state space matrix.

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