Abstract

AbstractNowadays, in order to save the floor space of the production workshops, the mecanum wheels have been applied to the design of Automated Guided Vehicles (AGV) robot to create highly flexible and omnidirectional AGV robot. Omni-directional robotic platforms have vast advantages over a conventional design in terms of mobility in congested environments. These environments are commonly found in factory workshops offices, warehouses, hospitals and elderly care facilities. To be able to control these robots in any given trajectory, it is necessary to set up the kinematic control parameters. The paper presents the method of establishing the kinematic equation of omnidirectional robots by the centre of instantaneous velocity, thereby determining the control parameters of AGV robot following a reference trajectory. In addition, the authors also designed the robot’s motion trajectories using the NURBS curve to solve the robot’s trajectory planning problem according to different application scenarios of modern industrial production.KeywordsAGV robotKinematic of AGVOmnidirectional mecanum wheelTrajectory designNURBS curve

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