Mobile Robot Kinematics

2014 ◽  
pp. 31-67 ◽  
Author(s):  
Spyros G. Tzafestas
Keyword(s):  
Mobile Robot ◽  
Robot Kinematics

Artificial Higher Order Neural Networks for Modeling MIMO Discrete-Time Nonlinear System

2013 ◽  
pp. 30-43
Author(s):  
Michel Lopez-Franco ◽  
Alma Y. Alanis ◽  
Nancy Arana-Daniel ◽  
Carlos Lopez-Franco
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Discrete Time ◽  
Higher Order ◽  
Robot Kinematics ◽  
Robot Dynamics ◽  
Plant Model ◽  
Actuator Dynamics ◽  
Nonholonomic Mobile Robot ◽  
Higher Order Neural Networks

In this chapter, a Recurrent Higher Order Neural Network (RHONN) is used to identify the plant model of discrete time nonlinear systems, under the assumption that all the state is available for measurement. Then the Extended Kalman Filter (EKF) is used to train the RHONN. The applicability of this scheme is illustrated by identification for an electrically driven nonholonomic mobile robot. Traditionally, modeling of mobile robots only considers its kinematics. It has been well known that the actuator dynamics is an important part of the design of the complete robot dynamics. However, most of the reported results in literature do not consider all parametric uncertainties for mobile robots at the actuator level. This is due to the modeling problem becoming extremely difficult as the complexity of the system dynamics increases, and the mobile robot model includes the uncertainties of the actuator dynamics as well as the uncertainties of the robot kinematics and dynamics.

Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot

Robotica ◽  
2014 ◽  
Vol 34 (2) ◽  
pp. 449-467 ◽  
Author(s):  
Zhengcai Cao ◽  
Longjie Yin ◽  
Yili Fu ◽  
Jian S Dai
Keyword(s):  
Adaptive Control ◽  
Mobile Robot ◽  
Design Procedure ◽  
Dynamic Surface Control ◽  
Robot Kinematics ◽  
Robot Dynamics ◽  
Dynamic Surface ◽  
Stabilizing Controller ◽  
Nonholonomic Mobile Robot ◽  
Surface Control

SUMMARYThis paper investigates the vision-based pose stabilization of an electrically driven nonholonomic mobile robot with parametric uncertainties in robot kinematics, robot dynamics, and actuator dynamics. A robust adaptive visual stabilizing controller is proposed with the utilization of adaptive control, backstepping, and dynamic surface control techniques. For the controller design, the idea of backstepping is used and the adaptive control approach is adopted to deal with all uncertainties. We also apply the dynamic surface control method to avoid the repeated differentiations of virtual controllers existing in the backstepping design procedure such that the control development is easier to be implemented. Moreover, to attenuate the effect of disturbances on control performance, smooth robust compensators are exploited. It is proved that all signals in the closed-loop system can be guaranteed to be uniformly ultimately bounded. Finally, simulation results are presented to illustrate the performance of the proposed controller.

Mobile Inspection Robot

2013 ◽  
Vol 319 ◽  
pp. 385-392 ◽  
Author(s):  
Michał Ciszewski ◽  
Tomasz Buratowski ◽  
Mariusz Giergiel ◽  
Krzysztof Kurc ◽  
Piotr Małka
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Cross Section ◽  
Design Process ◽  
Laboratory Tests ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
Positioning System ◽  
Pipe Inspection ◽  
Inspection Robot

In this paper, the design of a tracked in-pipe inspection mobile robot with a flexible drive positioning system is presented. The robot would be able to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically with cross section greater than 200 mm. The paper presents a complete design process of a virtual prototype, with usage of CAD/CAE software. Mathematical descriptions of the robot kinematics and dynamics that aim on development of a control system are presented. Laboratory tests of the utilized tracks are included. Performed tests proved conformity of the design with stated requirements, therefore a prototype will be manufactured basing on the project.

Uncalibrated Vision-Based Control of Two-Wheeled Mobile Robots

2001 ◽  
Author(s):  
Jenelle Armstrong Piepmeier ◽  
Peter A. Morgan
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Newton Method ◽  
Camera Calibration ◽  
Visual Feedback ◽  
Robot Kinematics ◽  
Moving Target ◽  
Controllable System ◽  
Wheeled Mobile Robots ◽  
Quasi Newton

Abstract An quasi-Newton method with Jacobian estimation is used to control a mobile robot utilizing visual feedback. The method is uncalibrated, requiring no camera calibration or known robot kinematics. Given a proper task configuration, the robot can be controlled such that it follows a moving target. This paper investigates the appropriate task configurations that result in a controllable system.

Localization of a Mobile Robot With Omnidirectional Wheels Using Angular Kalman Filtering and Triangulation

2006 ◽  
Author(s):  
Josep M. Font ◽  
Joaquim A. Batlle
Keyword(s):  
Mobile Robot ◽  
Time Derivative ◽  
Time Integration ◽  
Laser Scanner ◽  
Mobile Robot Navigation ◽  
Robot Kinematics ◽  
Laser Measurements ◽  
Position And Orientation ◽  
Straight Lines ◽  
Omnidirectional Wheels

Localization is one of the fundamental problems in mobile robot navigation. Several approaches to cope with the dynamic positioning problem have been made. Most of them use an extended Kalman filter (EKF) to estimate the robot pose — position and orientation — fusing both the robot odometry and external measurements. In this paper, an EKF is used to estimate the angles, relative to the robot frame, of the straight lines from a rotating laser scanner to a set of landmarks. By using this method angles are predicted, between actual laser measurements, by means of the time integration of its time derivative, which depends upon the robot kinematics. Once these angles are estimated, triangulation can be consistently applied at any time to determine the robot pose. In this work, a mobile robot with three omnidirectional wheels — that consist of two spherical rollers — is considered. Computer simulations showing the accuracy of this method are presented.

scholarly journals Modelling and simulation of pneumatic system operation of mobile robot

2020 ◽  
Vol 6 (2) ◽  
pp. 1-11
Author(s):  
Vitaliy Korendiy ◽  
◽  
Oleksandr Kachur ◽  
Oleksandr Havrylchenko ◽  
Vasyl Lozynskyy ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Pneumatic System ◽  
Walking Robots ◽  
Robot Kinematics ◽  
Robot Locomotion ◽  
Operational Characteristics ◽  
Turning Mechanism ◽  
Locomotion Speed ◽  
Improved Design ◽  
Mathcad Software

Problem statement. Mobile robots are currently of significant interest among researchers and designers all over the world. One of the prospective drives of such robots is equipped by a pneumatically operated orthogonal system. The processes of development and improvement of orthogonal walking robots are significantly constrained because of the lack of an open-access comprehensive scientific and theoretical framework for calculating and designing of the energy-efficient and environmental-friendly pneumatic walking drives. Purpose. The main purpose of this research consists in the kinematic analysis, motion modelling and pneumatic system simulation of the mobile robot with an orthogonal walking drive. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical modelling of the robot motion is conducted in MathCad software. The computer simulation of the robot kinematics is performed using SolidWorks software. The operational characteristics of the robot’s pneumatic system are investigated in Festo FluidSim software. Findings (results) and originality (novelty). The improved design of the mobile robot equipped by the orthogonal walking drive and turning mechanism is thoroughly investigated. The motion equations of the orthogonal walking drive are deduced, and the graphical dependencies describing the trajectories (paths) of the robot’s feet and body are constructed. The pneumatically operated system ensuring the robot rectilinear and curvilinear locomotion is substantiated. Practical value. The proposed design of the walking robot can be used while developing industrial (production) prototypes of mobile robotic systems intended for performing various activities in the environments that are not suitable for using electric power. Scopes of further investigations. While carrying out further investigations, it is expedient to design the devices for changing the robot locomotion speed and controlling the lifting height of its feet.

Study on Characteristics of Passive Wheel Typed Robot

2013 ◽  
Vol 467 ◽  
pp. 470-474
Author(s):  
Feng Yun Lin
Keyword(s):  
Mobile Robot ◽  
Robot Kinematics ◽  
Original Structure ◽  
New Type

This paper put forward a new type of leg-wheeled hybrid mobile robot installed passive wheels at the ends of the legs, we call this typed robot as Ice-skater robot, An analysis and improvement upon the original structure of skating robot is proposed, The paper gives the model of the robot kinematics and a simulation was carried out upon the moving characteristics of the skating robot while it was sliding.

Wireless Control of Mobile Robot Technology Research Environment under Linux

2014 ◽  
Vol 556-562 ◽  
pp. 2217-2220
Author(s):  
Ling Xu ◽  
Yan Song ◽  
Le Mao
Keyword(s):  
Mobile Robot ◽  
Control Systems ◽  
Tracking Control ◽  
Control Algorithm ◽  
Robot Kinematics ◽  
Control Methods ◽  
Technology Research ◽  
Trajectory Tracking Control ◽  
Wireless Control ◽  
Design Requirements

Good use of embedded Linux open, portability features, wireless control systems for mobile robots to build; while the dynamic model of the mobile robot kinematics model and analyze and track their trajectory control methods studied, BP-PID trajectory tracking control algorithm. Research results show that the wireless control system built with the design requirements, the use of the control algorithm is effective and reliable.

scholarly journals Steering-angle computation for the multibody modelling of differential-driving mobile robots with a caster

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141882016 ◽  
Author(s):  
Xing Wu ◽  
Jorge Angeles ◽  
Ting Zou ◽  
Haining Xiao ◽  
Wei Li ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
System Model ◽  
Control Architecture ◽  
Robot Kinematics ◽  
System Modelling ◽  
Steering Angle ◽  
Complete Control ◽  
Computation Technique ◽  
Navigation Control

Since many off-the-shelf motor drives are supplied with complete control capability in the current, velocity and position loop, the robot model in the navigation control architecture can be oriented either to kinematics, interfaced with the velocity loop, or to dynamics, with the motor-current loop. Moreover, no constraints are imposed by a caster on the mobility of differential-driving mobile robots. Hence, a reduced model, containing only the platform, is sufficient for navigation control based only on the robot kinematics. However, if the multibody system model is used for navigation control based on the robot dynamics, to cope with the demands of high-speed manoeuvres and/or heavy-load operations, then the caster kinematics, especially the knowledge of the steering angle, is required to calculate the inertia matrix and the terms of Coriolis and centrifugal forces. While this angle can be measured by means of dedicated encoders to be installed for casters, the computation technique based on the existing tachometers, already mounted on the motor shafts for the servo control of the two driving wheels, is proved to be sufficient. Both a thorough kinematics model and a multibody dynamics model, including the platform and all different wheels, are formulated here for differential-driving mobile robots. Computational methods based on velocity compatibility and rigid body twists are proposed to estimate the steering angle. Simulation results of the differential-driving mobile robot moving on a smooth trajectory show the feasibility of the steering-angle computational scheme, which obviates the need of installing caster encoders. Moreover, a performance comparison on system modelling is implemented via simulation, between the differential-driving mobile robot model with and without caster dynamics. This further validates the importance of the dynamic effects of casters on the whole system model. Therefore, the multibody modelling approach for casters with the steering-angle computation technique can facilitate the navigation control architecture under dynamics conditions.

Mobile Robot Trajectory Analysis Using Computational Methods

2013 ◽  
Vol 837 ◽  
pp. 549-554
Author(s):  
Daniela Coman ◽  
Adela Ionescu
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Analysis ◽  
Mobile Robotics ◽  
Initial Conditions ◽  
Robot Kinematics ◽  
Good Reliability ◽  
Differential Drive ◽  
Robot Trajectory ◽  
Graphical Tool

This paper presents some considerations regarding the trajectory analysis for a class of mobile robots, namely two-wheeled differential drive mobile robots, one of the most utilized mechanical structures now in mobile robotics practice. The paper is continuing the computational analysis of the Cauchy problem associated to a mobile robot kinematics. The phaseportrait graphical tool of the mathematical soft MAPLE11, points out the influence of the initial conditions the initial velocities of the driving (left and right) wheels of the robot on the robot trajectory. Considering a pair of few simulation cases for the initial conditions brings a good reliability of the analysis. The issue of repetitive phenomena is very important to notice in this context, as in the analysis it is repeated a specific allure of the trajectory. It brings important features, both from mathematical and robotic analysis standpoint. The further changes are due to the initial conditions variations. Repetitive phenomena can be collected in order to realize a global panel of random distributed events in the kinematics of two wheeled differential drive mobile robot and to use the statistical observations in the further analysis.

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