Kinematic Modeling of 4 Mecanum Wheeled Manipulator with 6 DOF

Abstract

This paper looks at how a mobile manipulator with six degrees of freedom (DOFs) can track the desired trajectory. A motion planning approach is proposed based on examining its kinematics models. The forward and inverse kinematics are analyzed using the Denavit-Hartenberg technique. The end-location effector and orientation are divided into two sections. In the first half, the manipulator provides sub-vectors projected on the Z-axis in the world frame, such as location, orientation. control system and the communication between different power motors with highly sensitive encoders was implemented. Robot parts assembled in CAD model of mobile manipulator, in addition to establish a prototype model which contains many features like Lightness, strong sections and highly maneuverable. In the second half, the mobile base and manipulator follow the required path and reach the sub-vectors on the world frame’s axes X and Y, respectively. The effectiveness of the suggested technique is demonstrated using simulated outcomes.