This article is based on the omnidirectional mobile manipulator with mecanum wheels built at Shanghai University. The article aims to find and analyze the parameters of kinematic equation of the omnidirectional system...This article is based on the omnidirectional mobile manipulator with mecanum wheels built at Shanghai University. The article aims to find and analyze the parameters of kinematic equation of the omnidirectional system which affects its motion accuracy. The method of solving the parameter errors involves three phases. The first step is equation operation to achieve the equation of relative errors. The second step is to obtain the displacement errors of the system via experiment and combine the error results with kinematic equation deduction to solve the geometric parameter errors in two methods. The third step is to verify its validity via comparing experiments. We can then revise its kinematics equation afterwards.展开更多
文摘This article is based on the omnidirectional mobile manipulator with mecanum wheels built at Shanghai University. The article aims to find and analyze the parameters of kinematic equation of the omnidirectional system which affects its motion accuracy. The method of solving the parameter errors involves three phases. The first step is equation operation to achieve the equation of relative errors. The second step is to obtain the displacement errors of the system via experiment and combine the error results with kinematic equation deduction to solve the geometric parameter errors in two methods. The third step is to verify its validity via comparing experiments. We can then revise its kinematics equation afterwards.
