Design, modelling and errors measurement of wheeled mobile robots

被引：8
作者：
Korayem, MH [1 ]
Rostam, TB
Nakhai, A
机构：
[1] Iran Univ Sci & Technol, Robot Res Lab, Coll Mech Engn, Tehran, Iran
[2] Islamic Azad Univ, Dept Comp Engn, Tehran, Iran
来源：
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY | 2006年 / 28卷 / 3-4期
关键词：
differential drive; modelling; odometry test; omni-directional; robot; simulation; systematic error;
D O I：
10.1007/s00170-004-2357-3
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the mechanical design process of an omni-directional mobile robot. In addition, the kinematics equations of the final design are derived, and the inverse Jacobian matrix of the robot is presented. The dynamic equations of motion for the final design are derived in a symbolic form, assuming that no slip occurs on the wheel in the spin direction. In order to validate the kinematics and dynamic equation, we carried out consequences of simulation using two pieces of software, Maple and Working Model. Finally, the mobile robot is moved in given trajectories and the systematic errors of the robot are determined. To overcome the problems, a new method was introduced in which the robot was programmed to move in the direction of each wheel shaft.
引用
收藏
页码：403 / 416
页数：14
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