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- W4296836568 abstract "In this paper, kinematic modeling and control of an omnidirectional wheeled cellular conveyor are proposed. Two inverse kinematic models for the conveyor are compared: a Cell-Based – traditional one – and a Wheel-Based one proposed in this paper, Wheel kinematic constraints has been considered in the derivation of the inverse kinematic equations of motion for the proposed model. Cells/wheels selection methods based on the instantaneous position of the package is implemented. Each model provides the required velocities for the selected cells/wheels to control the package path. The system is simulated using the MATLAB© SIMULINK© platform to verify the accuracy of the derived equations. The simulations results are validated experimentally by using a small-scaled conveyor system. The Wheel-Based model shows better performance in terms of accuracy and is more energy efficient compared to the Cell-Based one." @default.
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- W4296836568 date "2022-11-01" @default.
- W4296836568 modified "2023-09-26" @default.
- W4296836568 title "Kinematic modeling and control of omnidirectional wheeled cellular conveyor" @default.
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- W4296836568 doi "https://doi.org/10.1016/j.mechatronics.2022.102896" @default.
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