Abstract
This paper discribes an omni-directional movement capable wheeled multi-purpose module system (MMS-V01). The MMS-V01 is composed of 4 modules which are one head module CT01-01, two wheeled modules WM11-01 and one communication module CB10-01. The WM11-01 has 2 mecanum wheels on the same axis. The relationship between the movement of the body and the rotation speed of each wheels is discussed. When the MMS-V01 makes a pivoting movement at a constant speed, the rotational speeds for each wheels are difficult because there is a difference in the moving distance by the position of the wheels. From the simulation results, it is possible to perform a turning motion of MMS-V01 by the rotational speed control of the wheels.
