{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T22:17:40Z","timestamp":1780525060718,"version":"3.54.1"},"reference-count":48,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2019,12,21]],"date-time":"2019-12-21T00:00:00Z","timestamp":1576886400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51675518"],"award-info":[{"award-number":["51675518"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010014","name":"Six Talent Peaks Project in Jiangsu Province","doi-asserted-by":"publisher","award":["JXQC-008"],"award-info":[{"award-number":["JXQC-008"]}],"id":[{"id":"10.13039\/501100010014","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004543","name":"China Scholarship Council","doi-asserted-by":"publisher","award":["201706425041"],"award-info":[{"award-number":["201706425041"]}],"id":[{"id":"10.13039\/501100004543","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the kinematic models of single- and multiple-robot combination systems are correct, and the inverse kinematic correction model with velocity compensation matrix is feasible. Through simulations or experiments, the velocity compensation coefficients of the robots can be measured and the velocity compensation matrix can be created. This modified inverse kinematic model can effectively reduce the errors of robot motion caused by wheel slippage and improve the motion accuracy of the mobile robot system.<\/jats:p>","DOI":"10.3390\/s20010075","type":"journal-article","created":{"date-parts":[[2019,12,23]],"date-time":"2019-12-23T03:15:01Z","timestamp":1577070901000},"page":"75","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":47,"title":["Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation"],"prefix":"10.3390","volume":"20","author":[{"given":"Yunwang","family":"Li","sequence":"first","affiliation":[{"name":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China"},{"name":"Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ 07030, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shirong","family":"Ge","sequence":"additional","affiliation":[{"name":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sumei","family":"Dai","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ 07030, USA"},{"name":"School of Mechanical and Electrical Engineering, Xuzhou University of Technology, Xuzhou 221018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lala","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xucong","family":"Yan","sequence":"additional","affiliation":[{"name":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuwei","family":"Zheng","sequence":"additional","affiliation":[{"name":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yong","family":"Shi","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ 07030, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2019,12,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"175","DOI":"10.1007\/s10732-018-9391-z","article-title":"Scheduling of mobile robots for transportation and manufacturing tasks","volume":"25","author":"Dang","year":"2018","journal-title":"J. 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