June 1, 1989Mechanics of Structures and Machines29 citations

Kinematics, Dynamics, and Control of Omnidirectional Vehicles with Mecanum Wheels

GWG. WampflerKarlsruhe University of Applied Sciences MSM. SaleckerKarlsruhe University of Applied Sciences JWJens WittenburgKarlsruhe Institute of Technology

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Abstract

Abstract Vehicles equipped with so-called mecanum wheels can translate in any direction and rotate on the spot without slippage though the axes of the wheels are fixed in the vehicle body. This paper presents an analysis of the kinematics, dynamics, and control of such vehicles.

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synapsesocial.com/papers/6a1c870ae2119f9cbea16f1b https://doi.org/https://doi.org/10.1080/15397738909412814