Dynamics Model of a Three-Wheeled Mobile Robot Taking into Account Slip of Wheels

被引：1
作者：
Trojnacki, Maciej [1 ]
机构：
[1] Ind Res Inst Automat & Measurements PIAP, Warsaw, Poland
来源：
RECENT ADVANCES IN SYSTEMS, CONTROL AND INFORMATION TECHNOLOGY | 2017年 / 543卷
关键词：
Wheeled mobile robot; Wheel slip; Dynamics model; Tire model; Drive unit model;
D O I：
10.1007/978-3-319-48923-0_41
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of modeling of dynamics of a three-wheeled mobile robot is analyzed in this paper. The robot has two non-steered driven wheels and a caster. Kinematic structure of the robot and its kinematics are described. Dynamics model of the robot dedicated for control applications is derived. It takes into account tire-ground contact conditions and slip of wheels. The tire-ground contact conditions are characterized by coefficients of friction and rolling resistance. The tire model in a simple form, which considers only the most important effects of tire-ground interaction, is applied. Electromechanical model of a servomotor used for driving the robot is also included.
引用
收藏
页码：378 / 386
页数：9
相关论文
共 13 条
  • [1] ActivMEDIA_ROBOTICS, 2000, PION 2 MOB ROB OP MA
  • [2] [Anonymous], 2008, P INT C WEISIC
  • [3] Baturone I., 2007, IEEE INT FUZZ SYST C
  • [4] Dabek P., 2016, MECHATRONICS IDEAS C, V414, P33, DOI [10.1007/978-3-319-26886-6_3, DOI 10.1007/978-3-319-26886-6_3]
  • [5] Dubowsky S., 2004, SPR TRA ADV ROBOT, V12
  • [6] Giergiel M., 2013, POMIARY AUTOMATYKA R, V17, P76
  • [7] An adaptive critic neural network for motion control of a wheeled mobile robot
    Hendzel, Zenon
    [J]. NONLINEAR DYNAMICS, 2007, 50 (04) : 849 - 855
  • [8] Kedzierski J., 2009, P 14 IFAC INT C METH
  • [9] Pacejka H., 2005, Tire and vehicle dynamics
  • [10] Padhy P. K., 2010, 11 IEEE INT WORKSH A
12