Autonomous and Mobile Robotics Prof. Giuseppe Oriolo Wheeled Mobile Robots 1 Mechanics of Mobile Robots companion slides for the blackboard lecture
wheels three basic types orientable fixed caster (steerable) Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 2
kinematic structures differential-drive mobile robot Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 3
kinematic structures synchro-drive mobile robot Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 4
kinematic structures tricycle car-like Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 5
kinematic structures omnidirectional mobile robot with 3 (actuated) caster wheels Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 6
kinematic structures Mecanum (Swedish) wheels can be also used to build omnidirectional mobile robots Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 7
� � � example of nonholonomic constraint rolling disk sagittal axis zero motion line generalized coordinates pure rolling Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 8
� � � � � � � the disk can go from any initial to any final configuration roll rotate e.g. 1. rotate so as to align with the final position 2. roll up to the final position 3. rotate up to the final orientation rotate hence, the rolling constraint is nonholonomic Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 9
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