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

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

1345

Lastpage

1350

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICMA.2007.4303745

Filename

4303745