Kinematic analysis, methods and experimental studies of robot navigator movements on mecanum wheels

Abstract

Machine learning and artificial intelligence, capable of making decisions on their own, have become indispensable tools for optimizing warehouse operations. The use of lifting equipment on a mobile platform on mechanical wheels in warehouses has a high degree of practical implementation, since the platform in question can move in any direction without U-turns. Kinematic studies of the movement of the robotic arm on the platform under consideration make it possible to opti-mize its movement and behavior in conditions of movement in a confined space with movable and fixed obstacles, which, from the standpoint of creating a mathematical model of platform control, are input parameters that determine the operating conditions of the platform. The methodology for conducting experimental studies and their analysis allow you to optimize the management and behavior of the platform in practice. The platform movement algorithm is developed taking into account its features and is designed to select the optimal route and navigation accuracy under changing space conditions (moving and stationary objects). In order to verify and evaluate the effectiveness of the localization and path planning algorithm in order to improve the control system of the mobile platform on mecanum wheels, modeling and simulation of the presented model were carried out, which made it possible to assess the kinematic parameters of the platform to achieve better results. The kinematic analysis made it possible to carry out a qualitative and quantitative assessment of the features of the movement of the platform behavior in space with various input data. Modeling and simulation of the path localization and planning algorithm made it possible to test its effectiveness in various operating conditions. The studies carried out have shown that the proposed method of kinematic analysis of the navigation system of a warehouse robot on mecanum wheels allows you to optimize its operation in warehouse conditions, which will increase the efficiency of cargo movement and ensure accurate navigation in the limited space of the warehouse. The development of kinematic and dynamic analysis of the navigation system of a warehouse robot on mecanum wheels opens up prospects for the creation of intelligent and autonomous solutions in the field of logistics and warehousing.

Keywords

• wheel mecanum
• kinematic analysis
• modeling
• robotic platforms of lifting equipment