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All Journal CAUCHY: Jurnal Matematika Murni dan Aplikasi Science and Technology Indonesia Jurnal Matematika UNAND InPrime: Indonesian Journal Of Pure And Applied Mathematics Community Development Journal: Jurnal Pengabdian Masyarakat Jurnal Orientasi Bisnis dan Entrepreneurship Warta Pengabdian Andalas: Jurnal Ilmiah Pengembangan Dan Penerapan Ipteks Multicience
Haripamyu Haripamyu
Universitas Andalas
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A KINEMATIC ANALYSIS OF MECHANUM WHEEL WITH THE TAYLOR SERIES APPROXIMATION AT DIFFERENT ORDERS: Kinematics Analysis Haripamyu Haripamyu; Fauzi Rahmatullah Siregar; Mahdhivan Syafwan
Jurnal Matematika UNAND Vol. 15 No. 1 (2026)
Publisher : Departemen Matematika dan Sains Data FMIPA Universitas Andalas Padang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25077/jmua.15.1.30-43.2026

Abstract

The mecanum wheel is an essential component in omnidirectional robotic systems, enabling free movement in any direction without changing orientation. The complexity of its kinematics requires a mathematical model that is both accurate and efficient. This study analyzes the contact point velocity equations of a mecanum wheel by considering all velocity components, then simplifies them using first-, second-, and third-order Taylor series approximations. The model is numerically simulated for different numbers of rollers (N = 6, 8, 12) with predefined geometric and motion parameters. Simulation results show that the first-order approach produces relatively large errors, especially with fewer rollers. The second-order approach significantly reduces the Root Mean Square (RMS) error compared to the first order, while the third order provides no notable improvement over the second. Increasing the number of rollers also results in smoother and more accurate velocity curves. In conclusion, the second-order Taylor series approximation is sufficient to efficiently model mecanum wheel kinematics withhigh accuracy, making it suitable for mobile robot control applications.
Co-Authors Admi Nazra Annisa Wahyuni Arrival Rince Putri Asdi, Yudiantri Athia Nurindah Sari Bahri, Susila Baqi, Ahmad Iqbal Citra N A Fariz Des Welyyanti EFENDI EFENDI Efendi Efendi Ekariani, Shelvi Fajri Oktariadi Fariz, Citra N A Fauzi Rahmatullah Siregar Hazmira Yozza Helmi, Monika Rianti Izzati Rahmi HG Jenizon Jenizon Kamarni, Neng Marwan Marwan Mawanda Almuhayar Mawanda Almuhayar Nadya Puspita Sari Noverina Alfiany Ridwan Prawira Yunaldi RIRI ALFAKHRIATI Riri Lestari Riski Kurniawan SENDY AIWA PRATAMA Syafwan, Mahdhivan Syafwan, Mahdivan Vella Sagita Putri Wulandari, Sintya Yanita Yanita Yanuar, Ferra YOZA FERNANDA ZAINUL RAHMAT Zetra, Aidinil Zulakmal, Zulakmal