Slippery model for a semi-passive mobile platform subject to external wrenches

S. Shoval, A. Shapiro

نتاج البحث: فصل من :كتاب / تقرير / مؤتمرمنشور من مؤتمرمراجعة النظراء

ملخص

In this paper we describe a slippery model for a mobile robot with multiple independently steered and passively driven wheels, moving on a slippery surface while being subjected to an external wrench. The model determines the vehicle's instantaneous response to the external wrench given the wheels' configuration. The model is verified and tested in a mobile robot that consists of an upper circular body and three identical semi-passive driving mechanisms. Each mechanism consists of a passive wheel that can freely roll, and a rotation actuator along the radial axes. Kinematic analysis provides tools for designing a motion path that steers the robot to the desired location, and determines the singular configurations. Due to the passive roll, there is no longitudinal slippage, and possible lateral slippage is determined by the dynamic model. This slippage can then be verified from kinematic and odometric models.)

اللغة الأصليةالإنجليزيّة
عنوان منشور المضيف2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
الصفحات749-754
عدد الصفحات6
المعرِّفات الرقمية للأشياء
حالة النشرنُشِر - 2008
منشور خارجيًانعم
الحدث2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008 - Chengdu, الصين
المدة: ٢١ سبتمبر ٢٠٠٨٢٤ سبتمبر ٢٠٠٨

سلسلة المنشورات

الاسم2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008

!!Conference

!!Conference2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
الدولة/الإقليمالصين
المدينةChengdu
المدة٢١/٠٩/٠٨٢٤/٠٩/٠٨

بصمة

أدرس بدقة موضوعات البحث “Slippery model for a semi-passive mobile platform subject to external wrenches'. فهما يشكلان معًا بصمة فريدة.

قم بذكر هذا