Collinear Mecanum Drive: Modeling, Analysis, Partial Feedback Linearization, and Nonlinear Control

The collinear Mecanum drive (CMD) is a novel robot locomotion system, capable of generating omnidirectional motion while simultaneously dynamically balancing, achieved using arrangement three or more wheels. CMD has significantly thinner ground footprint than existing methods, which does not need to be enlarged with increasing height as avoid toppling during acceleration external disturbance. This combination manoeuvrability and thin allows for the creation tall robots that are able navigate through much narrower gaps between obstacles methods. greater in confined cluttered environments, such encountered personal service automated warehousing robotics sectors. article derives kinematics dynamics models CMD, analyzes controllability accessibility, determines degree can linearized by feedback. A partial feedback linearization then performed, practically useful nonlinear controllers derived backstepping design approach, all convergence stability guarantees fully coupled model. These demonstrated both simulation on real-world experimental prototype.