Modeling and simulation for heavy-duty mecanum wheel platform using model predictive control

• Main Authors: Fuad, A. F.M., Mahmood, Iskandar Al-Thani, Ahmad, Salmiah, Norsahperi, N. M.H., Toha, Siti Fauziah, Akmeliawati, Rini, Darsivan, Fadly Jashi
• Format: Conference or Workshop Item
• Language: English; English
• Published: IOP Publishing 2016
• Subjects: T Technology (General); TL Motor vehicles. Aeronautics. Astronautics
• Online Access: http://irep.iium.edu.my/54677/2/54677-Modeling%20and%20simulation%20for%20heavy-duty%20mecanum%20wheel.pdf; http://irep.iium.edu.my/54677/1/54677-Modeling%20and%20simulation%20for%20heavy-duty%20mecanum%20wheel_SCOPUS.pdf; http://irep.iium.edu.my/54677/; http://iopscience.iop.org/article/10.1088/1757-899X/184/1/012050/pdf

This paper presents a study on a control system for a heavy-duty four Mecanum wheel platform. A mathematical model for the system is synthesized for the purpose of examining system behavior, including Mecanum wheel kinematics, AC servo motor, gearbox, and heavy duty load. The system is tested for...