Wheeled Mobile Robots 1 Mechanics of Mobile Robots companion slides - - PowerPoint PPT Presentation

Autonomous and Mobile Robotics

• Prof. Giuseppe Oriolo

Wheeled Mobile Robots 1

Mechanics of Mobile Robots

companion slides for the blackboard lecture

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides

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wheels three basic types fixed

• rientable

(steerable) caster

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides

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kinematic structures differential-drive mobile robot

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides

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kinematic structures synchro-drive mobile robot

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides

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kinematic structures tricycle car-like

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides

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kinematic structures

• mnidirectional mobile robot with

3 (actuated) caster wheels

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides

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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

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example of nonholonomic constraint

• rolling disk

generalized coordinates pure rolling

sagittal axis zero motion line

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides

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the disk can go from any initial to any final configuration

• hence, the rolling constraint is nonholonomic

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
• rientation

rotate rotate roll