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Optimal Design of a Grasping Device Through Simplified Pose Synthesis of a Four-Bar Linkage Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Kinematics Modelling of Mobile Robot with Articulated Limbs Without Wheel Slip

Authors : P. Sperzyński, A. Gronowicz

Published in: New Advances in Mechanisms, Mechanical Transmissions and Robotics

Publisher: Springer International Publishing

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Abstract

This paper presents a formulation of the kinematics model of wheeled mobile robot with articulated limbs. In order to describe the contact motion between robot wheels and ground, a differential kinematics model is used. Following the already mentioned, nonholonomic constraints of the wheel no-slip movement are introduced in a form of Pfaffian constraints. Further section of this article describes the kinematics control system preventing wheel slip. To ensure the no-slip motion conditions, null space of a Pffafian constraints matrix is taken into consideration. Finally, numerical simulation is presented as proof of validity for the previously developed and proposed control system.

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Literature
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Grand, C., Benamar, F., Plumet, F.: Motion kinematics analysis of wheeled-legged rover over 3D surface with posture adaptation. Mech. Mach. Theory 45(3), 477–495 (2010)CrossRefMATH
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Ylnen, S., Halme, A.: Centaur like service robot. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne Switzerland, 30 Sept–4 Oct 2002
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Sperzyński, P., Szrek, J.: Control of constrained dynamic system of leg of wheel-legged mobile robot. In: Proceedings of the Second Conference MeTrApp 2013, Bilbao, Spain (2013)
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Bałchanowski, J.: Modelling and simulation studies on the mobile robot with self-levelling chassis. J. Theor. Appl Mech. 54(1), 149–161 (2016)CrossRef
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Chakraborty, N., Ghosal, A.: Kinematics of wheeled mobile robots on uneven terrain. Mech. Mach. Theory 39, 87–1273 (2004)CrossRefMATH
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Montana, D.J.: The kinematics of contact and grasp. Int. J. Robot. Res. 7(3), 17–32 (1988)CrossRef
Metadata
Title
Kinematics Modelling of Mobile Robot with Articulated Limbs Without Wheel Slip
Authors
P. Sperzyński
A. Gronowicz
Copyright Year
2017
Book
New Advances in Mechanisms, Mechanical Transmissions and Robotics

Print ISBN: 978-3-319-45449-8

Electronic ISBN: 978-3-319-45450-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-45450-4_25

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