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<p>This study presents a rigorous kinematic and dynamic modeling framework for a four mecanum wheeled Automated Guided Vehicle (AGV), explicitly addressing the often-overlooked non-holonomic characteristics arising from rolling constraints. Although mecanum wheeled platforms are often treated as holonomic due to their omnidirectional mobility, this work demonstrates that the system remains fundamentally non-holonomic under no-slip rolling conditions. The equations of motion are derived using Chaplygin’s formulation for non-holonomic systems. A key theoretical contribution is the analytical proof that the pseudoinverse approximation coincides with the exact non-holonomic model only under specific torque compatibility conditions. The pseudoinverse-based formulation closely matches the exact model when the motion is restricted to specific regimes, such as pure translation or rotation about the centre of mass, provided that torque compatibility conditions are satisfied. In these cases, the non-holonomic coupling terms vanish, and the system behaves equivalently to a holonomic one. Consequently, Lagrange’s equations become applicable within these restricted motions. Although such equations are generally derived under holonomic constraints, this result demonstrates that they may still be valid for particular classes of non-holonomic motion in mecanum wheeled AGVs. The experimental results show minimal deviation between simulation and real-world performance across various trajectory types, with average Root Mean Square (RMS) errors ranging from 1.56&#xa0;cm to 3.05&#xa0;cm. The simulation time closely aligns with the experimental time, with deviations between 0.89% and 2.94%. The study bridges the gap between idealized holonomic approximations and exact non-holonomic mechanics, providing deeper insight into motion planning and control of mecanum wheeled AGVs.</p>

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Kinematic and dynamic modeling of a mecanum wheeled vehicle with simulation and experimental validation

  • 期刊论文

  • 发表日期：

    2026年7月2日

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  • Ankur Bhargava,
  • Mohammad Suhaib,
  • Ajay K. S. Singholi

摘要

This study presents a rigorous kinematic and dynamic modeling framework for a four mecanum wheeled Automated Guided Vehicle (AGV), explicitly addressing the often-overlooked non-holonomic characteristics arising from rolling constraints. Although mecanum wheeled platforms are often treated as holonomic due to their omnidirectional mobility, this work demonstrates that the system remains fundamentally non-holonomic under no-slip rolling conditions. The equations of motion are derived using Chaplygin’s formulation for non-holonomic systems. A key theoretical contribution is the analytical proof that the pseudoinverse approximation coincides with the exact non-holonomic model only under specific torque compatibility conditions. The pseudoinverse-based formulation closely matches the exact model when the motion is restricted to specific regimes, such as pure translation or rotation about the centre of mass, provided that torque compatibility conditions are satisfied. In these cases, the non-holonomic coupling terms vanish, and the system behaves equivalently to a holonomic one. Consequently, Lagrange’s equations become applicable within these restricted motions. Although such equations are generally derived under holonomic constraints, this result demonstrates that they may still be valid for particular classes of non-holonomic motion in mecanum wheeled AGVs. The experimental results show minimal deviation between simulation and real-world performance across various trajectory types, with average Root Mean Square (RMS) errors ranging from 1.56 cm to 3.05 cm. The simulation time closely aligns with the experimental time, with deviations between 0.89% and 2.94%. The study bridges the gap between idealized holonomic approximations and exact non-holonomic mechanics, providing deeper insight into motion planning and control of mecanum wheeled AGVs.