scholarly journals Enhanced closed-loop systematic kinematics analysis of wheeled mobile robots

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141986324
Author(s):  
Ziyong Han ◽  
Shihua Yuan ◽  
Xueyuan Li ◽  
Junjie Zhou
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Time Derivative ◽  
Wheeled Mobile Robot ◽  
Central Position ◽  
Wheeled Mobile Robots ◽  
Kinematic Chains ◽  
Uneven Terrain ◽  
The Matrix ◽  
Kinematic Modelling

The traditional homogeneous transform maintains central position in the kinematic modelling of robotics. However, for these kinematic modelling of wheeled mobile robots over uneven terrain, the homogeneous transform that represents angular velocity implicitly in the time derivative of the rotation matrix has a drawback in orientation representation. In this article, to improve the angular representation, a new general systematic method for kinematics modelling and analysis of wheeled mobile robot is proposed. The approach uses the Sheth–Uicker convention and loop-closure kinematic chains to derive the position, velocity and acceleration kinematics. The screw coordinates are used to reform the velocity kinematics to centroidal kinematics; then, the Jacobian calculation is simplified to solve the screw vector algebra equations instead of the matrix equations. Meanwhile, the linear and angular components of the centroidal kinematics are endowed with physical meanings and are easy to be selected as control variables. The approach is applied to a wheeled mobile robot, and its effectiveness is verified by the simulation results with various terrain.

HOLONOMIC AND OMNIDIRECTIONAL LOCOMOTION SYSTEMS FOR WHEELED MOBILE ROBOTS: A REVIEW

2015 ◽  
Vol 77 (28) ◽  
Author(s):  
M. Juhairi Aziz Safar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Degrees Of Freedom ◽  
Wheeled Mobile Robot ◽  
Arbitrary Direction ◽  
Current Position ◽  
Wheeled Mobile Robots ◽  
Future Improvement ◽  
Position And Orientation ◽  
Three Degrees Of Freedom

Holonomic and omnidirectional locomotion systems are best known for their capability to maneuver at any arbitrary direction regardless of their current position and orientation with a three degrees of freedom mobility. This paper summarizes the advancement of holonomic and omnidirectional locomotion systems for wheeled mobile robot applications and discuss the issues and challenges for future improvement.

scholarly journals Modelling of Dynamics of a Wheeled Mobile Robot with Mecanum Wheels with the use of Lagrange Equations of the Second Kind

2017 ◽  
Vol 22 (1) ◽  
pp. 81-99 ◽  
Author(s):  
Z. Hendzel ◽  
Ł. Rykała
Keyword(s):  
Mathematical Model ◽  
Kinetic Energy ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Equations Of Motion ◽  
Wheeled Mobile Robot ◽  
Dynamic Equations ◽  
Lagrange Equations ◽  
Wheeled Mobile Robots ◽  
New Type

Abstract The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.

Wheeled Mobile Robot Tracking Control without Velocity Measurement

2013 ◽  
Vol 373-375 ◽  
pp. 231-237 ◽  
Author(s):  
Qiang Wang ◽  
Guang Tong ◽  
Xin Xing
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Velocity Measurement ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Design Parameters ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Robot Tracking ◽  
Control Scheme

In this paper, a new robust trajectory tracking control scheme for wheeled mobile robots without velocity measurement is proposed. In the proposed controller, the velocity observer is used to estimate the velocity of wheeled mobile robot. The dynamics of wheeled mobile robot is considered to develop the controller. The proposed controller has the following features: i) The proposed controller has good robustness performance; ii) It is easy to improve tracking performance by setting only one design parameters.

Kinematics of Wheeled Mobile Robots With Toroidal Wheels on Uneven Terrain

2003 ◽  
Author(s):  
Nilanjan Chakraborty ◽  
Ashitava Ghosal
Keyword(s):  
Mobile Robot ◽  
Thin Disk ◽  
Wheeled Mobile Robot ◽  
Variable Length ◽  
Ground Contact ◽  
Wheeled Mobile Robots ◽  
Holonomic Constraints ◽  
Uneven Terrain ◽  
Passive Joint ◽  
Simulation Results

This paper deals with the kinematic analysis of a wheeled mobile robot (WMR) moving on uneven terrain. It is known in literature that a wheeled mobile robot, with a fixed length axle and wheels modeled as thin disk, will undergo slip when it negotiates an uneven terrain. To overcome slip, variable length axle (VLA) has been proposed in literature. In this paper, we model the wheels as a torus and propose the use of a passive joint allowing a lateral degree of freedom. Furthermore, we model the mobile robot, instantaneously, as a hybrid-parallel mechanism with the wheel-ground contact described by differential equations which take into account the geometry of the wheel, the ground and the non-holonomic constraints of no slip. Simulation results show that a three-wheeled WMR can negotiate uneven terrain without slipping. Our proposed approach presents an alternative to variable length axle approach.

Calibration of omnidirectional wheeled mobile robots: method and experiments

Robotica ◽  
2013 ◽  
Vol 31 (6) ◽  
pp. 969-980 ◽  
Author(s):  
Yaser Maddahi ◽  
Ali Maddahi ◽  
Nariman Sepehri
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Systematic Errors ◽  
Wheeled Mobile Robot ◽  
Wheeled Mobile Robots ◽  
Omnidirectional Mobile Robot ◽  
Position Errors ◽  
Positioning Errors ◽  
Surface Irregularities ◽  
Omnidirectional Wheels

SUMMARYOdometry errors, which occur during wheeled mobile robot movement, are inevitable as they originate from hard-to-avoid imperfections such as unequal wheels diameters, joints misalignment, backlash, slippage in encoder pulses, and much more. This paper extends the method, developed previously by the authors for calibration of differential mobile robots, to reduce positioning errors for the class of mobile robots having omnidirectional wheels. The method is built upon the easy to construct kinematic formulation of omnidirectional wheels, and is capable of compensating both systematic and non-systematic errors. The effectiveness of the method is experimentally investigated on a prototype three-wheeled omnidirectional mobile robot. The validations include tracking unseen trajectories, self-rotation, as well as travelling over surface irregularities. Results show that the method is very effective in improving position errors by at least 68%. Since the method is simple to implement and has no assumption on the sources of errors, it should be considered seriously as a tool for calibrating omnidirectional mobile having any number of wheels.

scholarly journals Wheeled mobile robot design with robustness properties

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401774525 ◽  
Author(s):  
Yung Yue Chen ◽  
Yung Hsiang Chen ◽  
Chiung Yau Huang
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Control Design ◽  
Wheeled Mobile Robot ◽  
Tracking Problem ◽  
Wheeled Mobile Robots ◽  
Modeling Uncertainties ◽  
Nonlinear Robust

A trajectory tracking design for wheeled mobile robots is presented in this article. The design objective is to develop one nonlinear robust control law for the trajectory tracking problem of wheeled mobile robots in the presence of modeling uncertainties. The main contribution of this investigation is as follows. Under the effects of modeling uncertainties, an effective control design which can quickly converge tracking errors between the controlled wheeled mobile robot and the desired trajectory is derived mathematically. Generally, it is difficult to develop a nonlinear robust control design for the trajectory tracking problem of wheeled mobile robots due to the complexity and nonlinearity of the wheeled mobile robots’ dynamics. Fortunately, based on a series analysis for the tracking error dynamics of the controlled wheeled mobile robot, one promising solution is obtained. For verifying the trajectory tracking performance of this proposed method, two scenarios are utilized in the simulations and the practical tests.

Development of a Control Model for a Four Wheel Mecanum Vehicle

2011 ◽  
Vol 134 (1) ◽  
Author(s):  
M. de Villiers ◽  
N. S. Tlale
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Contact Point ◽  
Control Model ◽  
Wheeled Mobile Robot ◽  
Experimental Results ◽  
Refined Model ◽  
Wheeled Mobile Robots ◽  
Control Models ◽  
Model Control

In this paper, a refined control model for a Mecanum-wheeled mobile robot is developed and presented. Available control models in literature for Mecanum-wheeled mobile robots are based on a simplification which defines the contact point of the wheel on the ground as the point in the center of the wheel, which does not vary. This limits the smoothness of motion of a mobile robot employing these wheels and impacts the efficiency of locomotion of mobile robots using Mecanum wheels. The control model proposed in this paper accounts for the fact that the contact point in fact changes position down the axle of the wheel as the angle roller moves on the ground. The developed control model is verified with experimental results. Using the refined model, control of Mecanum-wheeled mobile robot is made more predictable and accurate.

scholarly journals Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Hua Cen ◽  
Bhupesh Kumar Singh
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
Wheeled Mobile Robot ◽  
Control Technique ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control

Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.

Effects of terrain irregularities on wheeled mobile robot

Robotica ◽  
2003 ◽  
Vol 21 (2) ◽  
pp. 143-152 ◽  
Author(s):  
Maria Prado ◽  
Antonio Simón ◽  
Ana Pérez ◽  
Francisco Ezquerro
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
The Body ◽  
Uneven Terrain

The influence of ground irregularities on the behavior of a wheeled mobile robot (WMR) navigating on uneven surfaces is addressed. The paper studies the vibratory movements induced on the body of the WMR, in order to analyze its ability for carrying out on-board tasks, and on the accuracy of the data collected by its external sensorial systems. The adhesion capability of the wheels of the WMR on this uneven terrain is also studied, since it conditions the braking, traction and steering performance. The method is applied to the WMR RAM.

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