Kinematic Analysis of Four-Wheel Mecanum Vehicle Rev 05/31/10 © Ether
This paper presents the solution to the inverse kinematic problem
and the forward kinematic problem for a 4-wheel mecanum vehicle.
The inverse kinematic equations allow you to calculate the four
independent wheel angular velocities required to produce a desired
vehicle velocity and rotation.
The forward kinematic equations predict the vehicle motion, given
the four wheel angular velocities.
Definitions
See Figure 1 below. Define a top-view coordinate system on the
vehicle with origin equidistant from the four wheels and X-axis
pointing forward and Y-axis pointing to the left.
Let [V] be the 3x1 matrix [Vx Vy ωv]' which represents the desired
translational and rotational velocity of the vehicle at an instant
in time. ωv is positive anticlockwise.
