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Determination of Kinematic Control Parameters of Omnidirectional AGV Robot with Mecanum Wheels Track the Reference Trajectory and Velocity

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Advances in Engineering Research and Application (ICERA 2020)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 178))

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Abstract

Nowadays, in order to save the floor space of the production workshops, the mecanum wheels have been applied to the design of Automated Guided Vehicles (AGV) robot to create highly flexible and omnidirectional AGV robot. Omni-directional robotic platforms have vast advantages over a conventional design in terms of mobility in congested environments. These environments are commonly found in factory workshops offices, warehouses, hospitals and elderly care facilities. To be able to control these robots in any given trajectory, it is necessary to set up the kinematic control parameters. The paper presents the method of establishing the kinematic equation of omnidirectional robots by the centre of instantaneous velocity, thereby determining the control parameters of AGV robot following a reference trajectory. In addition, the authors also designed the robot’s motion trajectories using the NURBS curve to solve the robot’s trajectory planning problem according to different application scenarios of modern industrial production.

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Acknowledgement

This research was funded by the Ministry of Industry and Trade in a ministerial-level scientific and technological research project, conducted in 2020, code: DTKHCN.076/20.

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Authors and Affiliations

  1. Faculty of Automation Technology, Electric Power University, Hanoi, Vietnam

    Trinh Thi Khanh Ly & Le Quoc Dzung

  2. Department of Mechanical Design and Robotics, School of Mechanical Engineering, Hanoi-University of Science and Technology, Hanoi, Vietnam

    Nguyen Hong Thai

  3. Department of Control and Automation, Faculty Electrical Engineering, Economic and Technical University of Industry, Hanoi, Vietnam

    Nguyen Thi Thanh

Authors
  1. Trinh Thi Khanh Ly
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  2. Nguyen Hong Thai
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  3. Le Quoc Dzung
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  4. Nguyen Thi Thanh
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Corresponding author

Correspondence to Trinh Thi Khanh Ly .

Editor information

Editors and Affiliations

  1. Department of Computer Science and Automation, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Kai-Uwe Sattler

  2. Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Duy Cuong Nguyen

  3. Faculty of Mechanical Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Ngoc Pi Vu

  4. Hanoi University of Science and Technology, Hanoi, Vietnam

    Banh Tien Long

  5. Institute for Automation and Systems Engineering, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Horst Puta

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Ly, T.T.K., Thai, N.H., Dzung, L.Q., Thanh, N.T. (2021). Determination of Kinematic Control Parameters of Omnidirectional AGV Robot with Mecanum Wheels Track the Reference Trajectory and Velocity. In: Sattler, KU., Nguyen, D.C., Vu, N.P., Long, B.T., Puta, H. (eds) Advances in Engineering Research and Application. ICERA 2020. Lecture Notes in Networks and Systems, vol 178. Springer, Cham. https://doi.org/10.1007/978-3-030-64719-3_36

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  • DOI: https://doi.org/10.1007/978-3-030-64719-3_36

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-64718-6

  • Online ISBN: 978-3-030-64719-3

  • eBook Packages: EngineeringEngineering (R0)

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