Int. J. of Applied Mechanics and Engineering, 2017, vol.22, No.1, pp.

81-99
DOI: 10.1515/ijame-2017-0005

MODELLING OF DYNAMICS OF A WHEELED MOBILE ROBOT WITH

MECANUM WHEELS WITH THE USE OF LAGRANGE EQUATIONS
OF THE SECOND KIND

Z. HENDZEL and Ł. RYKAŁA*

Department of Applied Mechanics and Robotics
Faculty of Mechanical Engineering and Aeronautics
Rzeszow University of Technology
al. Powstańców Warszawy 12, 35-959 Rzeszów, POLAND
E-mails: [email protected]; [email protected]

The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived
with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in
wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In
order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is
determined, as well as the generalised forces affecting the system. The resulting mathematical model of a
wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and
forward problems of dynamics of the discussed object are also published.

Key words: wheeled mobile robots, mecanum wheels, mathematical model.

1. Introduction

The new type of wheels used in wheeled mobile robots (abbreviated as WMR) includes the so-called
omnidirectional wheels, which consist of a hub and a specific number of rollers installed on the
circumference of the hub (Fig.1) [1, 2, 3, 4, 5]. The mentioned number of rollers can vary between different
designs of the wheels, but each of the rollers can freely rotate around its own axis. The wheels can be
characterised by means of angle  occuring between the axis of own rotation of the wheel and the axis of
rotation of the roller (Fig.1), which is equal in mecanum wheels   45 [6].

Fig.1. Model of a mecanum wheel with graphically marked angle  .

*
To whom correspondence should be addressed

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The WMR considered consists of a platform, four identical mecanum wheels and four independently
controlled direct-current motors. The mecanum wheels are in turn rigidly placed on the shafts of the
particular motors. The virtual model of the mentioned WMR is presented in Fig.2.

Fig.2. Virtual model of a WMR with mecanum wheels.

It has been assumed in the current configuration that the mecanum wheels located on the opposite
part of the WMR have identically oriented angles  (Fig.2), which is also presented schematically in Fig.3.

2. Description of kinematics of a WMR with mecanum wheels

During movement of the WMR, the mecanum wheels rotate with angular velocity  l , where i
denotes the number of the wheel (i = 1, 2, 3, 4). The radiuses of mecanum wheels R and rollers r are constant
values that are equal for each of the four wheels. Further assumptions in regard to the WMR are presented
graphically in Fig.3. It has also been assumed that the angle of rotation of the platform of the WMR around
the characteristic point S is angle β. The width of the platform is 2sy, and the distances between point S, and
the midpoints of the front and back axle (points A1, A2) are in both cases equal to sx. Furthermore, we assume
that all the mecanum wheels are moving on a level base without skidding.
A WMR object with mecanum wheels can be described in a co-ordinate system xpypzp (Fig.3)
connected with the mass centre of the WMR platform, i.e., the characteristic point S.

Fig.3. Analytical model of a WMR with mecanum wheels.

The description of kinematics of the WMR in the case under consideration can also be presented in
the form of the following equations [6, 7]

 
vSx p  vSy p   s x  s y   1  R  r   0 , (2.1)

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 
vSx p  vSy p   sx  s y   2  R  r   0 , (2.2)

 
vSx p  vSy p   s x  s y   3  R  r   0 , (2.3)

 
vSx p  vSy p   sx  s y   4  R  r   0 (2.4)

where: vSx p - projection of velocity of point S on the xp axis, vSy p - projection of velocity of point S on the yp. axis.
Equations (2.1), (2.2), (2.3), (2.4) are equations of holonomic (geometric) constraints. Therefore, the
WMR described with the use of the mentioned kinematic equations, is a holonomic object.
For this case it is also possible to present a solution of an inverse kinematics problem assuming the
track of point S and its velocity s in the form of the following relationships

1 
 1  v  v   sx  s y  ,
 R  r   Sx p Sy p    (2.5)

1 
 2 
 R  r   Sx p Sy p  
v  v   s x  s y  ,  (2.6)

1 
 3 
 R  r   
vSx p  vSy p   sx  s y  ,
  (2.7)

1 
 4  v  v   sx  s y  .
 R  r   Sx p Sy p    (2.8)

Equations (2.5), (2.6), (2.7), (2.8) can be presented in the form of a relationship presented below
  JVsp (2.9)
where
  1 
 
   2  , (2.10)
  3 
 
 4 

 1

1 
 sx  s y 


R  r   r
R R  r 
 
 1 1 sx  s y  
 
R  r R  r R  r 
J   , (2.11)
 1 1 
 sx  s y  
R  r R  r  R  r  


 1 1 sx  s y  

  R  r  R  r  R  r  

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84 Z.Hendzel and Ł.Rykała

 vSx p 
 
Vsp   vSy p  . (2.12)
  
  

In order to solve a forward kinematics problem, an inversion operation of matrix J should be

performed. Matrix J is a rectangular matrix, therefore in order to perform its inversion one can use the
Moore-Penrose theorem on inversion of rectangular matrices. Once the mentioned theorem is applied, the
following relationship is obtained [8]

 
1
J od  J   J   J T J JT (2.13)

where matrix J+ is a pseudoinverse matrix (Moore-Penrose pseudoinverse) in relation to matrix J.

Matrix Jod calculated in accordance with relationship (2.13) is presented in the following matrix form

 
 
 R  r R  r R  r R  r 
1
J od    R  r  R  r   R  r    R  r   . (2.14)
4
 R  r   R  r R  r R  r 
 

 s x  s y  
sx  s y   sx  s y   
sx  s y 


The solution of a forward kinematics problem can be received from the following relationship

Vsp  J od  . (2.15)

Relationship (2.15) is a source for the following equations

Rr 
vSx p     1   2   3   4  , (2.16)
 4 

Rr 
vSy p     1   2   3   4  , (2.17)
 4 

 Rr 
      1   2   3   4  . (2.18)
 
 4 sx  s y  


As proved in [6], a roller is a passive element and assuming the lack of skidding between the roller
and the ground it does not affect the motion of a mecanum wheel.

3. Description of dynamics of a WMR with mecanum wheels

Lagrangian formalism was used in order to obtain dynamic equations of motion of the WMR.
Lagrange equations of the second kind for the described holonomic object can be noted in the following way
[7, 9]

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d  T  T
   Qj (3.1)
dt  q j  q j


where: j = 1, 2,...,s, T – kinetic potential, q j - value of the j-th generalised coordinate, Q j – value of the j-th
generalised force, s - number of degrees of the system’s freedom.
Afterwards, it was assumed that the WMR moves on a level surface, therefore the kinetic potential T
appearing in Lagrange Eq.(3.1) can be presented in the following way

T  Ek (3.2)

where: Ek – kinetic energy of the system.

Due to the above-mentioned fact that rollers in the system under analysis are passive elements, the
influence of the rollers on the dynamics of the analysed object is omitted in further deliberations, i.e., the
kinetic energy of the rollers, the mass of the rollers, and the mass moment of inertia related to the mentioned
element are omitted.
Considering the foregoing, the motion of the WMR is related to the motion of its components, i.e.,
the WMR platform and mecanum wheels. The WMR platform moves in plane motion, whereas the mecanum
wheels move in complex motion [7, 10, 11, 12, 13].
The kinetic energy of the WMR platform Ekp can be expressed in the following way

Ekp 
1
2
2

m p vSx p
2
 vSy p
1
2

 I pzp  2 (3.3)

where: m p - mass of the platform, I pzp – mass moment of inertia of the WMR platform determined in
relation to the zp axis, of the xpypzp co-ordinate system, passing through point S.
The mecanum wheels in turn move in complex motion in consequence of the rotary motion of
wheels determined around the axis of own rotation of the mecanum wheels and the plane lifting motion of
the WMR platform. Therefore, the kinetic energy of the wheels Ekm can be expressed in the following way

Ekm 
1
2
  1
2

I k  12   22   32   42  4  mk vSx
2
p
2
 vSy p 1
2

 I k zp  2 

(3.4)

where: mk - mass of a mecanum wheel, I k – mass moment of inertia determined in relation to the axis of
own rotation of the wheel, I k zp – mass moment of inertia of a mecanum wheel determined in relation of the
zp axis, of the xpypzp coordinate system, with the middle of the axis in point S.
The total kinetic energy of the system Ek is presented in the form of the following relationship

Ek  Ekp  Ekm . (3.5)

Once the summation operation is performed, relationship (3.5) takes the following form

Ek 
1
2

2
m pc vSx p
2
 vSy p 
1
2
1
2

 I pc 2  I k  12   22   32   42  (3.6)

where: m pc and I pc are in the following relationships

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86 Z.Hendzel and Ł.Rykała

m pc  m p  4mk , (3.7)

I pc = I pzp  4I k zp . (3.8)

Next, in order to simplify the notation of the kinetic energy of the system Ek , ancillary variables are
adopted in the form of formulas presented below

m pc  R  r 
2
A , (3.9)
8

I pc  R  r 
2
B , (3.10)
 
2
16 sx  s y

C  Ik . (3.11)

After the variables described by means of relationships (3.9), (3.10), (3.11) are introduced in the
formula of the kinetic energy of the system (3.6), the relationship describing kinetic energy of the WMR is
presented in the form of the following relationship

1 1
Ek  A2 12  2 22  2 32  2 42  4  1 4  4 2  3  B 12   22 
4 2
2 2
 3   4  2 1 2  2 3  4  2 1 3  2 1 4  2 2  3  2 2  4  (3.12)
1
 C  12   22   32   42  .
2  

After the notation is simplified and shared factors are factored out, formula (3.12) can be noted as
Eq.(3.13)

1
Ek   A  B  C   12   22   32   42    A  B   1 4 
2 (3.13)
 2  3  B   1 2   3  4   1 3   2  4 .

The analysed WMR model has four degrees of freedom, therefore the generalised coordinates are
assumed to be the following variables noted in the following form

 q1   1 
 q   
 2   2. (3.14)
 q3   3 
   
 q4  4 

Figure 4 and Fig.5 present in turn the forces and moments of forces acting on pairs of mecanum
wheels, in succession 2, 4 and 1, 3, taking into account the forces of gravity acting on the WMR platform. In
the analysis conducted it has been assumed that the interactions of the pair of elements: engine, mecanum

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wheel are down to the fact that the i-th mecanum wheel is propelled by means of driving moment i (i = 1,
2, 3, 4) originating from the i-th power transmission system. Furthermore, it has been assumed that the
weight of the WMR platform is G p , whereas the weight of the i-th mecanum wheel is Gi and it moves on a
flat, rough (coefficient of dry friction i ) and deformable (coefficient of rolling friction fi ) surface without
skidding. The analysis also takes into account the dry friction force Ti and the pressure force N i for the i-th
wheel.

Fig.4. Forces and moments of forces acting on mecanum wheels no. 2 and 4.

Fig.5. Forces and moments of forces acting on mecanum wheels no. 1 and 3.

Elementary work of the system of forces amounts to

L   1  N1 f1  1   2  N 2 f 2  2   3  N 3 f 3  3   4  N 4 f 4  4 . (3.15)

Relationship (3.15) indicates that particular generalised forces satisfy the following equations

Q1  1  N1 f1 , (3.16)

Q2  2  N 2 f 2 , (3.17)

Q3  3  N3 f 3 , (3.18)

Q4  4  N4 f4 . (3.19)

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The moments of rolling friction appearing in relationships (3.16), (3.17), (3.18), (3.19) are then made
dependant on the sense of the value of angular velocity of the wheels  i with the use of the signum function

Q1  1  N1 f1 sgn   1  , (3.20)

Q2  2  N 2 f 2 sgn   2  , (3.21)

Q3  3  N 3 f 3 sgn   3  , (3.22)

Q4  4  N 4 f 4 sgn   4  . (3.23)

Furthermore, the following relationship is correct in the current case, which significantly simplifies
formula (3.1)

T
0. (3.24)


Considering the foregoing Lagrange Eq.(3.1) can be presented in the form of a matrix

1 
 2  A  B  C   1
2
 A  B   4  B   2   3  
  Q 
 1  A  B  C   2  A  B   3  B  1  4 
   1
 
d 2 2  Q2 
  . (3.25)
dt  1 Q
 A  B  C   32  A  B   2  B   4   1    3 
2  Q4 
1 
  A  B  C   42  A  B   1  B   3   2  
2 

Once a differentiation operation is performed in relation to the matrix time located on the left side of
the equal sign in formula (3.25), the relationship can be noted in the following way


1   Q1 

  Q 
M  2  2 (3.26)

 3  Q3 
   

 4  Q4 

where matrix M is in the following relationship

 A  B  C  (  B ) ( B ) ( A  B ) 
 
 ( B)  A  B  C  ( A  B) ( B) 
M . (3.27)
( B ) ( A  B )  A  B  C  ( B) 
 
( A  B) ( B ) ( B )  A  B  C  

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Furthermore, formula (3.26) can be transformed so as to obtain a solution of an inverse dynamics

problem, i.e., calculate the relationships describing driving moments i of particular mecanum wheels

 1  1   N1 f1 sgn   1  

    
  
 2   M  2    N 2 f 2 sgn  2   . (3.28)
 3   3   N 3 f 3 sgn   3  

     
 4   4   N 4 f 4 sgn   4  


Relationship (3.26) can also be transformed in order to obtain angular acceleration of the wheels 
i
(i = 1, 2, 3, 4)


1   1  N1 f1 sgn   1  
    
 2   M 1  2  N 2 f 2 sgn  2  

(3.29)

 3   3  N 3 f 3 sgn   3  
   

 4   4  N 4 f 4 sgn   4  

where matrix M 1 is in the following relationship

 2 AB  AC  3BC  C 2 B ( B) (2 AB  AC  BC ) 
 


 8 AB  2 AC  4BC  C C  4B  C  C
2
  4B  C  C 
8 AB  2 AC  4BC  C 2 C 


 B 2 AB  AC  3BC  C 2 ( 2 AB  AC  BC ) ( B) 
 
1
M 
  4B  C  C 
8 AB  2 AC  4BC  C 2 C   
8 AB  2 AC  4BC  C 2 C  4B  C  C 
 (3.30)
 ( B) (2 AB  AC  BC ) 2 AB  AC  3BC  C 2 B 
  4B  C  C
 
8 AB  2 AC  4BC  C 2 C   
8 AB  2 AC  4BC  C C  4B  C  C 
2 
 
 (2 AB  AC  BC ) ( B) B 2 AB  AC  3BC  C 2 
 
 8 AB  2 AC  4BC  C 2 C  4B  C  C
 
 4B  C  C 8 AB  2 AC  4BC  C 2 C 
 
The analysed object can also be described in a stationary coordinate system xyz (Fig.3). When
describing the object in an xyz coordinate system, one can use the homogeneous transformation matrixes and
note the following equations

vSx p  xS cos  y S sin , (3.31)

vSy p   xS sin  y S cos . (3.32)

After differentiation with respect to time of Eqs (3.31), (3.32) and Eqs (2.16), (2.17), (2.18), and then
by means of equating them to each other, the following three relationships are obtained

 R  r 
xS cos  xS  sin  
 yS sin  y S  cos   
1  
 2   4  ,
3   (3.33)
 4 

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 R  r 
xS sin  xS  cos  
  yS cos  y S  sin     
1  
 2    4  ,
3   (3.34)
 4 

 
    R  r 
   
1  
 2   4  .
3   (3.35)
 
 4 sx  s y  


By means of introduction of angular accelerations of wheels  i (i = 1, 2, 3, 4) resulting from matrix

relationship (3.29) in Eqs (3.33), (3.34), (3.35), a dynamic equation of motion of the WMR is obtained in the
form of the following relationships

R  r
xS cos  xS  sin  
 yS sin  y S  cos   1  2  3  4 
4(2 A  C ) (3.36)
 N1 f1sgn   1   N 2 f 2 sgn   2   N 3 f 3sgn   3   N 4 f 4 sgn   4   ,

 R  r 
xS sin  xS  cos  
  yS cos  y S  sin   1  2  3  4 
4(2 A  C ) (3.37)
 N1 f1sgn   1   N 2 f 2 sgn   2   N 3 f 3sgn   3   N 4 f 4 sgn   4   ,

R  r 
 
 1  2  3  4  N1 f1sgn   1  
 
4 s x  s y (4B  C ) (3.38)
 N 2 f 2 sgn   2   N 3 f 3sgn   3   N 4 f 4 sgn   4  .

Next, it is assumed that the WMR moves on an identical surface, which means that all the rolling
resistance coefficients for particular wheels are equal and in the following relationship

f1  f 2  f 3  f 4  f . (3.39)

Once relationship (3.39) is taken into account and the notation of Eqs (3.36), (3.37), (3.38) is
ordered, the following relationships are obtained

 4I k   1 
 m pc 

  cosβ 
   
xS  y S β  sinβ  
yS - xS β   
 
  1  2  3  4 
R  r  
  R  r 2   (3.40)
 f  N1sgn  φ 1   N 2 sgn  φ 2   N 3sgn  φ 3   N 4 sgn  φ 4    ,

 4I k   1 
 m pc 

  cosβ 

 
yS  xS β  sinβ  
xS  y S β   
 
  1  2  3  4 
R  r  
  R  r 2   (3.41)
 f  N1sgn  φ 1   N 2 sgn  φ 2   N 3sgn  φ 3   N 4 sgn  φ 4    ,

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Modelling of dynamics of a wheeled mobile robot … 91


  
 
2
 I  4I s x  s y    sx  s y
 pc 
β  1  2  3  4 

k
 R  r 2  R  r (3.42)
 
 f  N1sgn  φ 1   N 2 sgn  φ 2   N 3sgn  φ 3   N 4 sgn  φ 4    .

Figure 6 in turn presents force relationships, i.e., the pressure forces of particular wheels on the base
N i , the weight of particular wheels of the WMR Gi and the weight of the platform of the WMR G p in a
two-dimensional projection to axes xp, zp. Furthermore, it is assumed that the centre of gravity of the WMR
overlaps the geometric centre of the WMR platform, i.e., point S.

Fig.6. Force relationships of the WMR model.

In order to determine the values of the pressure forces N i one needs to analyse the case of
equilibrium of the WMR positioned in accordance with Fig.6. In the discussed system, there are no forces
acting in the direction of the xp axis. By means of projecting the present forces to the zp axis, it is possible to
note the following equation

N1  N 2  N 3  N 4  G p  G1  G2  G3  G4  0 . (3.43)

The next equation can be obtained by means of calculating the general moment of the force system
in relationship to point S.

 N1  N 2  sx   N3  N4  sx   G3  G4  sx   G1  G2  sx  0 . (3.44)

It was then assumed that all the wheels are of the same weight equal to Gk  G1  G2  G3  G4 and
that the total weight of the WMR is equal to Gr  G p  4Gk . Therefore, Eqs (3.43) and (3.44) can be
presented in the following form

N1  N 2  N3  N4  Gr  0 , (3.45)

 N1  N 2  s x   N 3  N 4  s x  0 . (3.46)

Assuming in addition that N1  N 2 and N3  N4 , it is possible to solve the system of Eqs (3.45),
(3.46) and obtain the following relationship

Gr
N1  N 2  N 3  N 4  . (3.47)
4

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92 Z.Hendzel and Ł.Rykała

By means of introducing relationship (3.47) in Eqs (3.40), (3.41), (3.42) the following equations are
obtained

 4I k 
 m pc 
 
 
xS  y S β  sinβ( 
  cosβ   
yS  xS β)

  R  r 2  (3.48)
 1  Gr f 
    1  2  3  4   sgn  φ 1   sgn  φ 2   sgn  φ 3   sgn  φ 4    ,
 R  r   4 

 4I k 
 m pc 

 cosβ 

 
yS  xS β  sinβ  
xS  y S β  
 
  R  r 2  (3.49)
 1   Gr f 
    1  2  3  4   sgn  φ 1   sgn  φ 2   sgn  φ 3   sgn  φ 4    ,
 R  r   4 


  
2
 I  4I sx  s y  
β
 pc k 


 R  r 2 
 (3.50)



 sx  s y   G f 
1  2  3  4  r  sgn  φ 1   sgn  φ 2   sgn  φ 3   sgn  φ 4    .
 R  r 
  4 

The defined Eqs (3.48), (3.49), (3.50) describing the dynamics of the object can be used in the
analysis of an inverse dynamics problem during the synthesis of control algorithm, and as a forward
dynamics problem during simulation studies of motion control algorithms for a wheeled mobile robot with
mecanum wheels.

4. Numerical simulations

The analysis of the dynamics of the object presented in the previous chapter was used to perform
numerical simulations for the solution of an inverse dynamics problem of a WMR with mecanum wheels,
and then the forward dynamics problem in order to perform numerical verification of correctness of the
obtained dynamic equations of motion. The studies have been performed in the Matlab/Simulink
environment. The following geometric dimensions of the WMR have been adopted in the simulations:
R = 0.035[m], r = 0.015[m], sy = 0.158[m], sx = 0.095[m]. The simulations also assumed the approximation
of the adopted profile of velocity of the characteristic point of the WMR in the form of the following
relationship

 1 1 
vS  vust   c ( t t r )
  c ( t th ) 
(4.1)
1 e 1 e 

where: vust[m/s] is the setpoint velocity of the characteristic point of the WMR in stationary state, c[1/s] is the
coefficient affecting the rate of change of velocity at the time of acceleration and breaking, whereas tr[s] and
th[s] are parameters describing average acceleration and braking times. For the purpose of the approximation
of the function f ( i )  sgn( i ) appearing in dynamic equations of motion by means of a continuous
function with subsequent continuous derivatives, a bipolar sigmoid function g   i  is used, described by
means of the following relationship

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Modelling of dynamics of a wheeled mobile robot … 93

2
g   i   1. (4.2)
1  e10 i


Figure 7 presents a graphical comparison of behaviours of functions f ( i ) and g ( i ) .

Fig.7. Comparison of behaviours of function f(  i ) and g(  i ).

In order to describe the mass of the platform and the mass of a single mecanum wheel, the following
values have been adopted: mp = 2[kg], mk = 0.4[kg]. The mass moments of inertia appearing in dynamic
equations of motion are equal to: Ik = 0.0005[kg·m2], I pzp = 0.0178[kg·m2], I k zp = 0.0139[kg·m2]. Next, a
coefficient of rolling friction has been adopted, equal to f = 0.002[m].

5. Results of numerical simulations

In the course of numerical studies, a simulation was performed, presenting the motion of the

characteristic point of the WMR on a rectilinear trajectory inclined at an angle of   [rad] in relation
6

to axis x of the xyz coordinate system with non-zero value of angle   t    [rad] that was constant in the
4
course of the simulation The position parameters of the initial characteristic point of the WMR in the
discussed numerical situation are the following

xs  0   0 , ys  0   0 ,   0    [rad] ,
4
xs  0   0, y s  0   0 ,   0   0 .

In accordance with the previous description, the trajectory of the motion of the characteristic point of
the WMR in this case is described by the following relationship

π
ys ( xs )  tg   xs . (5.1)
6 

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94 Z.Hendzel and Ł.Rykała

The results of numerical studies for the discussed simulation are presented in Figs 8, 9, 10, 11, 12,
13, 14, 15, 16, 17. The trajectory of motion of the characteristic point of the WMR is presented graphically
together with the configuration of the platform of the WMR in Fig.8.

Fig.8. Trajectory of motion of the characteristic point with graphical reflection of configuration of the
WMR platform in the course of simulation.

Figure 9 presents the system of coordinates of the characteristic point of the WMR and the angle of
rotation of the frame, whereas Fig.10 presents projections of velocity of the characteristic point of the WMR
and the angular velocity of the platform of the WMR. Figure 11 in turn illustrates the solution of the inverse
kinematics problem for the discussed case of motion of the characteristic point of the WMR, being two
behaviours of angular velocity identical to the pairs of wheels no. 1, 4 and 2, 3.

Fig.9. Behaviours of the set kinematic parameters of the characteristic point of the WMR: xs  t  , ys  t  and
t  .

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Modelling of dynamics of a wheeled mobile robot … 95

Fig.10. Behaviours of the set kinematic parameters of the characteristic point of the WMR: xs  t  , y s  t  and   t  .

Fig.11. Behaviours of angular velocities of wheels no. 1, 2, 3, 4

Figure 12 presents angular accelerations of the wheels 
i (i = 1, 2, 3, 4). Figure 13 in turn presents
the solution of the inverse dynamics problem, which for the discussed case of motion of the characteristic
point of the WMR are two behaviours of driving moments of mecanum wheels identical for the pairs of
wheels no. 1, 4 and 2, 3.

Fig.12. Behaviours of angular accelerations of wheels no. 1, 2, 3, 4.

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96 Z.Hendzel and Ł.Rykała

Fig.13. Behaviours of driving moments of wheels no. 1, 2, 3, 4.

For the purpose of verification of the correctness of the derived dynamic equations of motion, a
forward dynamics problem has been solved, results of which are illustrated in Fig.14 and Fig.15.

Fig.14. Solution of a forward dynamics problem: behaviours: xs  t  , ys  t  and   t  .

Fig.15. Solution of a forward dynamics problem: behaviours xs  t  , y s  t  and   t  .

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Modelling of dynamics of a wheeled mobile robot … 97

The difference between the set kinematic behaviours (Figs 9 and 10), and the kinematic behaviours
obtained as a result of solution of a forward dynamics problem (Figs 14 and 15) is presented graphically in
Figs 16 and 17.

Fig.16. Calculation errors of coordinates of the characteristic point of the WMR: exs (t ), e ys (t ) and the angle
of rotation of the frame e (t ) .

Fig.17. Calculation errors of the projections of velocity of the characteristic point of the WMR:
exs  t  , e y s  t  and the angular speed of the frame e (t ) .

Maple V software for symbolic operations has been used in the course of generation of the
mathematical description of the WMR.

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98 Z.Hendzel and Ł.Rykała

6. Conclusions

This work contains an analysis of the dynamics of a four-wheeled WMR with mecanum wheels with
the use of Lagrange equations of the second kind without multipliers. The mentioned formalism enables the
creation of a description of the dynamics of the object in the form that allows its application in the
construction of control systems and in simulation studies. The presented analysis of the dynamics of WMR
was conducted for the purpose of a synthesis of tracked motion control algorithms for the discussed object.
The conducted theoretical considerations allowed numerical simulations presenting a solution of the
inverse dynamics problem for the motion of the characteristic point of the discussed object on the set
trajectory with the determined configuration of the platform. In order to verify the correctness of the obtained
solutions, the results of the forward dynamics problem are also presented, which are in turn compared with
the set behaviours. As a result, small errors were obtained (order of magnitude 10-5[m]), which confirmed the
correctness of the entirety of numerical studies and the correctness of the derived dynamic equations of
motion for the analysed object.

Nomenclature

Ek – kinetic energy
f – coefficient of rolling friction
G – vector of weight of the element
I – mass moment of inertia
L – work of the system of forces
m – mass of the element
N – vector of pressure force
R, r – radius of mecanum wheel and roller
sx, sy – length and width of the platform
T – vector of dry friction force
 – angle of inclined trajectory
 – angle of rotation of the platform
 – construction angle of mecanum wheel
 – coefficient of dry friction
v – linear velocity
 – driving moment of mecanum wheel
 – angle of rotation of mecanum wheel

References

[1] Abdelrahman M., Zeidis I., Bondarev O., Adamov B., Becker F. and Zimmermann K. (2014): A description of the
dynamics of a four wheel mecanum mobile system as a basis for a platform concept for special purpose vehicles
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kinematics and dynamics of a four-wheeled mecanum vehicles. – Scientific Journal of IFToMM, ”Problems of
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[3] Lih-Chang L. and Hao-Yin S. (2013): Modeling and adaptive control of an omni-mecanum-wheeled robot. –
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Modelling of dynamics of a wheeled mobile robot … 99

[6] Hendzel Z. and Rykała Ł. (2015): Description of kinematics of a wheeled mobile robot with mecanum wheels. –
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Received: October 16, 2016

Revised: January 19, 2017

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