Motion charasteristics of mecanum wheel

Hello, me and my collegues are trying to model a vehicle with four mecanum wheels in Matlab. We are trying to plot the motion of the vehicle, while showing it has mecanum wheel characteristics (going sideways, diagonal between waypoints etc.). But we couldn't figure how to do it. (we have the vehicle as a point and waypoints, but it does not goes between them. How can we modify our codes to make it move like a mecanum wheel vehicle.

Answer 1

[Amrtanshu Raj]

Hi,

Currently, there is no direct support to model mecanum wheel drive In MATLAB. We do not have a motion model or waypoint follower that can be used for a holonomic drive.

You can use the transformtraj to interpolate between the waypoints to get intermediate states of robot, or use the unicycleKinematics to model the motion through the waypoints.

A reasonable workaround can be to consider holonomic motion as a UAV motion at a constant height. The dynamics in the case of constant height UAV motion will be the same as a Holonomic drive. Then UAVWaypointFollower can be used to follow the waypoints.

Hope this helps !!