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Title: Evaluation of velocity and acceleration effect on mecanum wheel robot positioning
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Abstract:
In this paper, a Mecanum wheel omnidirectional robotic platform made for taking measurements in harsh and dangerous conditions is introduced. Due to the necessity of highly accurate displacement of the platform for measuring the conditions at the exact measurement point and due to known Mecanum wheel slippage and relatively poor position accuracy, a calibration procedure for minimizing positioning error had to be implemented. ; For this task, a highly accurate stereographic digital image correlation (DIC) system was used to measure platform displacement. A series of parameters, namely linear maximum velocity and acceleration/deceleration values, were taken into account during the calibration procedure to find the best combination allowing precise movement of the robot. ; It was found that low acceleration values were the main causes of the robot`s poor positioning accuracy and could cause the robot`s motors to stall. Max speed values proved to have little effect on the robot`s positioning.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
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Source:
IJAME, volume 27, number 3 (2022)
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License CC BY-NC-ND 4.0:
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Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Mechanical Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mechanics and Engineering (IJAME)
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mechanics and Engineering (IJAME) > International Journal of Applied Mechanics and Engineering (IJAME) (2022)
Last modified:
Jul 6, 2023
In our library since:
Feb 3, 2023
Number of object content hits:
83
All available object's versions:
https://zbc.uz.zgora.pl/publication/77406
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International Journal of Applied Mechanics and Engineering (IJAME)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 29 (2024)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 28 (2023)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 27 (2022)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 27, number 1 (2022)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 27, number 2 (2022)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 27, number 3 (2022)
- International Journal of Applied Mechanics and Engineering (IJAME), volume 27, number 3 (2022) - Contents
- System vibration control using linear quadratic regulator
- Roughness effects of textured surfaces in hydrodynamic lubrication
- Evaluation of velocity and acceleration effect on mecanum wheel robot positioning
- Chemically reacting Jeffrey fluid flow over a deformable porous layer with entropy generation analysis
- Application of reanalysis methods in structural mechanics
- Heat and mass transfer in a vertical channel flow through a porous medium in the presence of radiation
- A numerical approximation of 2D coupled Burgers` equation using modified cubic trigonometric B-spline differential quadrature method
- Development of dynamic load factors for human walking excitation for floor vibration design
- Radiation and magnetohydrodynamic effects on convective nanofluid past an inclined plate in the presence of a chemical reaction
- MHD free convective heat and mass transfer flow from a vertical porous surface with variable thermal conductivity, variable mass diffusivity and thermal diffusion including viscous dissipation and chemical reaction
- The Hall effect on MHD 2-fluid unsteady heat transfer flow of plasma in a rotating system via a straight channel between conducting plates
- Influence of multi extrusion die process on mechanical and chemical behavior of 2024-T3 alloy
- Tensile fault dislocation in an irregular-layered elastic half-space
- Investigations of couette flow unsteady radiative convective heat transfer in a vertical channel using the generalized method of lines (MOL)
- Testing of formed joints on a designed prototype station
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International Journal of Applied Mechanics and Engineering (IJAME), volume 27, number 4 (2022)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 27, number 1 (2022)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 26 (2021)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 25 (2020)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 24 (2019)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 23 (2018)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 22 (2017)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 21 (2016)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 20 (2015)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 19 (2014)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 18 (2013)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 29 (2024)
| Edition name | Date |
|---|---|
| Evaluation of velocity and acceleration effect on mecanum wheel robot positioning | Jul 6, 2023 |
