Autonomous and Mobile Robotics Prof. Giuseppe Oriolo Wheeled Mobile Robots 1 Mechanics of Mobile Robots companion slides for the blackboard lecture
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Autonomous and Mobile RoboticsProf. 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 2
wheels
three basic types
fixed orientable(steerable)
caster
Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 3
kinematic structures
differential-drive mobile robot
Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 4
kinematic structures
synchro-drive mobile robot
Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 5
kinematic structures
tricycle car-like
Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 6
kinematic structures
omnidirectional mobile robot with 3 (actuated) caster wheels
Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 7
kinematic structures
Mecanum (Swedish) wheels can be also usedto build omnidirectional
mobile robots
Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 8
example of nonholonomic constraint
rolling disk
generalized coordinates
purerolling
sagittal axiszero motion
line
Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 9
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 position2. roll up to the final position3. rotate up to the final
orientation
rotate
rotate
roll
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