Title :
3-D Kinematics Modeling for Mobile Robot with Steering Castered-and-Cambered Wheels
Author :
Xu, He ; Xue, Kai ; Peng, Fangliang ; Yu, Shuanghe ; Gao, Xiaozhi ; Ouyang, Qiuyun ; Chang, Qing ; Lu, Zhimao
Author_Institution :
Harbin Eng. Univ., Harbin
Abstract :
In this paper, a universal kinematics model has been presented to a robot with four caster-cambered wheels. The effect toward the robot kinematics performance based on caster and camber has been analyzed. Closed-chain space and Instantaneous Superposition Frame (ISR) is used to build a 3-D kinematics model about differential suspension mobile robot with caster-cambered wheels by independent propulsion and individual steering. An algorithm to estimate the wheel slippage is given. And the Jacobian of wheel with caster and camber has been presented. The results can be the extension of the research results of P.F. Muir and Rajagoplan.
Keywords :
mobile robots; robot kinematics; wheels; 3D kinematics modeling; caster-cambered wheels; closed-chain space; differential suspension mobile robot; independent propulsion; instantaneous superposition frame; mobile robot kinematics performance; steering castered-and-cambered wheel; universal kinematics model; wheel slippage; Electronic mail; Intelligent robots; Jacobian matrices; Kinematics; Mobile robots; Power engineering and energy; Robotics and automation; Shafts; Space technology; Wheels; caster-cambered wheel; kinematics; mobile robot; slippage estimation;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303745
