Control of Constrained Dynamic System of Leg of Wheel-Legged Mobile Robot

Sperzyński, P.; Szrek, Jarosław

doi:10.1007/978-94-007-7485-8_25

Cited by 2 publications

(2 citation statements)

References 2 publications

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“…The dimensions of the limb were selected in such a way as to obtain a sufficiently large workspace ( Fig. 2a) (Sperzyński and Szrek, 2013;Bałchanowski, 2016). The s 1 actuator is responsible for changing the value of the angle θ 1 .…”

Section: System Descriptionmentioning

confidence: 99%

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Simulation of motion of a mobile robot on uneven terrain

Sperzyński¹,

Bałchanowski²,

Gronowicz³

2020

Journal of Theoretical and Applied Mechanics

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In the paper, a kinematical model of the robot moving on uneven terrain has been presented. Configuration of the robot placed on uneven terrain is described, presenting the redundant set of variables that create the state of the robot. Inverse kinematics tasks have been defined, which as a result of various assumptions, gives the robot configuration. To solve the kinematics tasks, adequate closed-loop equations have been defined. Velocity equations of the point of the wheel contact with the ground have been presented with respect to the velocity of the platform itself and velocities of the robot actuators. Assuming constraints of the wheel movement causing a no-slip condition, dependencies between those velocities have been determined. This allowed one to determine velocities of the robot drives, so that the platform moves in the way specified by the user.

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Section: System Descriptionmentioning

confidence: 99%

“…At Wrocław University of Technology, a prototype of a wheeled-legged robot (Bałchanowski, 2016;Sperzyński and Szrek, 2013) was designed and built. It has a specific wheel suspension system which simplifies the levelling task.…”

Section: Introductionmentioning

confidence: 99%