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The kinematics of the patrol robot is analyzed based on the Mecanum’s wheel theory. Find the kinematic inverse solution. Derive the relationship between the velocity of the four wheels of the Mecanum’s wheel and the target velocity of the robot. In turn, find the relationship between the two positive solutions. Finally, the motion control of the whole robot is programmed. It provides a theoretical analysis basis for further research on the Mecanum’s wheel theory patrol robot.

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Analysis and Programming Implementation of Patrol Robot Kinematics Based on Mecanum’s Principle

  • 会议论文

  • 发表日期：

    2026年

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  • Renjun Wang,
  • Qunfeng Zhao,
  • Yu Tian,
  • Rutao Wang

摘要

The kinematics of the patrol robot is analyzed based on the Mecanum’s wheel theory. Find the kinematic inverse solution. Derive the relationship between the velocity of the four wheels of the Mecanum’s wheel and the target velocity of the robot. In turn, find the relationship between the two positive solutions. Finally, the motion control of the whole robot is programmed. It provides a theoretical analysis basis for further research on the Mecanum’s wheel theory patrol robot.