Influence of mecanum wheels construction on accuracy of the omnidirectional platform navigation (on exanple of KUKA youBot robot)

摘要

The object of the study is an omnidirectional platform of the mobile robot KUKA youBot, its platform is equipped with two pairs of omnidirectional mecanum-wheels. A kinematic analysis of the system is carried out taking into account number of wheel rollers and its real geometry. The accuracy of the algorithm for calculating the coordinates of the mobile platform using odometric information that does not take into account the construction of the wheels is studied. An algorithm is proposed to improve the accuracy of odometric navigation.