Simulation of motion of a mobile robot on uneven terrain

• Autorzy: Sperzyński Przemysław Grzegorz , Bałchanowski Jacek , Gronowicz Antoni

Identyfikatory

DOI

10.15632/jtam-pl/119062

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

wheeled mobile robot; contact analysis; inverse kinematics computation

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2020
• Tom: Vol. 58 nr 2
• Strony: 541--552
• Opis fizyczny: Bibliogr. 12 poz., rys.

Twórcy

autor

Sperzyński Przemysław Grzegorz

• Wrocław University of Science and Technology, Faculty of Mechanical Engineering, Wrocław, Poland

autor

Bałchanowski Jacek

• Wrocław University of Science and Technology, Faculty of Mechanical Engineering, Wrocław, Poland

autor

Gronowicz Antoni

• Wrocław University of Science and Technology, Faculty of Mechanical Engineering, Wrocław, Poland

Bibliografia

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• 2. Bałchanowski J., 2016, Modelling and simulation studies on the mobile robot with self-leveling chassis, Journal of Theoretical and Applied Mechanics, 54, 1, 149-161, DOI: 10.15632/jtampl.54.1.149.
• 3. Bonnafous D., Lacroix S. Siméon T., 2018, Motion generation for a rover on rough terrains, International Conference on Intelligent Robots and Systems, 2, 784-789, DOI: 10.1109/IROS.2001.976264.
• 4. Chakraborty N., Ghosal A., 2004, Kinematics of wheeled mobile robots on uneven terrain, Mechanism and Machines Theory, 39, 1273-1287.
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• 8. Sperzyński P., Gronowicz A., 2017, Kinematics modelling of mobile robot with articulated limbs without wheel slip, [In:] New Advances in Mechanisms, Mechanical Transmissions and Robotics. Mechanisms and Machine Science, B. Corves, E.-C. Lovasz, M. Hüsing, I. Maniu, C. Gruescu (Eds.), Springer.
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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).