麦克纳姆轮受力分析（英文PDF）.pdf

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.

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.