NDLI: Kinematics Of Wheeled Mobile Robots On Uneven Terrain

Content Provider	Indian Institute of Science (IISc)
Author	Chakraborty, Nilanjan Ghosal, Ashitava
Copyright Year	2004
Abstract	This paper deals with the kinematic analysis of a wheeled mobile robot (WMR) moving on an uneven terrain. It is known in literature that a wheeled mobile robot, with a fixed length axle and wheels modeled as thin disk, will undergo slip when it negotiates an uneven terrain. In this paper, we model the wheels as a torus and propose the use of a passive joint allowing a lateral degree of freedom. Furthermore, we model the mobile robot, instantaneously, as a hybrid-parallel mechanism with the wheel-ground contact described by differential equations which take into account the geometry of the wheel, the ground and the non-holonomic constrain of no slip. We present an algorithm to solve the direct and inverse kinematics problem of the hybrid-parallel mechanism. Simulation results show that the three-wheeled WMR with torus shaped wheels and passive joints can negotiate uneven terrain without slipping. Our proposed approach presents an alternative to variable length axle approach.
File Format	PDF
Journal	PeerReviewed
Language	English
Publisher	Elsevier Ltd
Publisher Date	2004-12-01
Access Restriction	Authorized
Subject Keyword	Mechanical Engineering
Content Type	Text
Resource Type	Article

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