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All Journal Jurnal Teknologi Informasi dan Ilmu Komputer Jurnal Fisika Unand BAREKENG: Jurnal Ilmu Matematika dan Terapan Limits: Journal of Mathematics and Its Applications JURTEKSI Buletin Ilmiah Nagari Membangun Jurnal Ilmu Fisika Jurnal Matematika UNAND Jurnal Lebesgue : Jurnal Ilmiah Pendidikan Matematika, Matematika dan Statistika Multicience Jurnal Ipteks Terapan : research of applied science and education Jurnal Natural Limits: Journal of Mathematics and Its Applications
Syafwan, Mahdhivan
Department Of Mathematics And Data Science, Faculty Of Mathematics And Natural Science, Universitas Andalas, Indonesia
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A KINEMATIC ANALYSIS OF MECHANUM WHEEL WITH THE TAYLOR SERIES APPROXIMATION AT DIFFERENT ORDERS: Kinematics Analysis Haripamyu, Haripamyu; Rahmatullah Siregar, Fauzi; Syafwan, Mahdhivan
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 Aadrean Aadrean Abdul Zaky Admi Nazra AGUNG ALVIAN NOOR Ahmad Ripai Ahmad Ripai Ahmad Syarif Alfiany, Noverina Amalina . Amanatul Firdausi Arrival Rince Putri Asdi, Yudiantri Asfa, Riza Azadi, Azzahro Fitri Azzahro Fitri Azadi Bahri, Susila Baqi, Ahmad Iqbal Boy Angga Budi Rudianto Bulandari, Manisya Danny Irwan Dea Desdwiria Putri Deasy Wahyuni Delsiana Boneta Devi Sari Ramadhini Dilla, Rahma Dwi Sulistiowati EFENDI EFENDI . Efendi Efendi Efendi Efendi Efendi, Riswan Eka Asih Kurniati Elsa Wahyuni Elvathna Syafwan FARRAS VITASHA PUTRI Fatmi Dinika Febri Daus FRILIANDA WULANDARI GHEA RATU ANNISA Gusrian Putra Hadi Susanto Hamdi, Syukri Hanifah Azzaura Musyayyadah Haripamyu Haripamyu Havid Syafwan Hazmira Yozza Helmi, Monika Rianti Hilda Fahlena Ikhsan Fachriansyah Putra ILMA PUTERI Indah Citra Apsari IQBAL HAMONANGAN Izzati Rahmi HG Izzati Rahmi HG Jenizon Jenizon KINTAN FEBRI CANIA Kintan Febri Cania Lidya Pratiwi Maidilla Iswari Maiyastri, Maiyastri Maya Nabila Maya Sari Syahrul Mohamad Nazri Abdul Halif Muhafzan Muhafzan Muhammad Firman Pebrizal Multasya, Nadya Citra NABIILAH JAHROO PRATIWI Nadya Citra Multasya Nanda Ardielna NANDA MUTIA UTAMA Narwen Narwen Nelfi Nelfi Netris, Zita Putri Nova Noliza Bakar Noverina Alfiany Nurweni Putri Nurwijayanti Pristiyanilicia Putri PUTERI, ILMA PUTRI HANDAYANI Putri, Pristiyanilicia Radhiatul Husna Rahmatullah Siregar, Fauzi Rati Febrianti RATNA HAYANI TSANI Riki Andri Yusda Riri Lestari Riri Lestari Riski Kurniawan Risna Julita Riza Asfa Rizky Prabowo Saidah, Muthiah As Samat, Nor Azah Setia Wahyuni Silvia Rosita Suci Rahma Nura Syafrizal Sy Syafrizal Sy, Syafrizal Syafwan, Elvathna SYED ABDUL JABAR Syukri Hamdi Tissa Putri Yunita Trengginas Eka Putra Sutantyo Tresnawati, Shandy Visca Amelia S Wahyu Hidayat Wahyu Hidayat Wardatul Jannah William Ramdhan Windi Oli Viera Windi Oli Viera WIRA AMLIZA Wulandari, Yana Yanuar, Ferra Yulianti, Lyra Zalfa Ahmad Syauqi Zulfi Abdullah