The sources of position errors of omni-directional mobile robot with Mecanum wheel

The use of conventional kinematic equations for Mecanum wheel based omni-directional mobile robot suffers from position errors mainly because of slips on the wheels. To overcome the problem, we first identify the sources that originate position errors and then introduce the wheel parameter adjustment to reduce the position errors of the robot system. The experimental results show that the presented wheel parameter adjustment indeed reduces position errors and provides a good calibration mechanism.