Kinematics Modelling of Mobile Robot with Articulated Limbs Without Wheel Slip

Sperzyński, P.; Gronowicz, Antoni

doi:10.1007/978-3-319-45450-4_25

Cited by 2 publications

(1 citation statement)

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“…It has a specific wheel suspension system which simplifies the levelling task. Simulation of robot movement has been a topic of the research for many years (Bałchanowski, 2016;Chakraborty and Ghosal, 2004;Sperzyński and Gronowicz, 2017). The paper presents the kinematical model of this mobile robot, allowing motion planning on uneven terrain.…”

Section: Introductionmentioning

confidence: 99%

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: Introductionmentioning

confidence: 99%