- Tytuł:
- Simulation of motion of a mobile robot on uneven terrain
- Autorzy:
-
Sperzyński, Przemysław Grzegorz
Bałchanowski, Jacek
Gronowicz, Antoni - Powiązania:
- https://bibliotekanauki.pl/articles/1839639.pdf
- Data publikacji:
- 2020
- Wydawca:
- Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
- Tematy:
-
wheeled mobile robot
contact analysis
inverse kinematics computation - Opis:
- 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.
- Źródło:
-
Journal of Theoretical and Applied Mechanics; 2020, 58, 2; 541-552
1429-2955 - Pojawia się w:
- Journal of Theoretical and Applied Mechanics
- Dostawca treści:
- Biblioteka Nauki
Artykuł