메카넘휠 기반의 전방향 이동로봇 슬립에 관한 해석 및 실험적 검증

Abstract

In this study, slip phenomenon that occurs during trajectory tracking motion of an omni-directional mobile robot based on Mecanum wheels was analyzed. Mecanum wheels which generate the omni-directionality to the mobile robot comprise a centered rim wheel and passive sub-rollers. In forward and backward motion, they function like usual wheels to enable rolling along the ground. However, in sideways motion, they create lateral motion of the mobile robot from the rotational actuation using their peculiar structural configuration, during which slip of the sub-rollers occurs. Unnecessary over-slip of the sub-rollers causes tracking errors of the mobile robot motion. To analyze the properties and reasons for the slip phenomenon, squared and circular trajectory tacking experiments were performed. From the experiments, it was observed that sideways motion generated respectively larger tracking errors than forward and backward motion. The geometric analysis regarding the tracking error generation was discussed using the Mecanum wheel structure. Finally, it was confirmed that suspension mechanism to provide four Mecanum wheels of the mobile robot with even reaction forces on the ground is necessary.