Wheel constrants

c thm chng 3.2 v 3.3

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Under these assumptions, we present two constraints for every wheel type. The first
constraint enforces the concept of rolling contact that the wheel must roll when
motion takes place in the appropriate direction. The second constraint enforces the
concept of no lateral slippage that the wheel must not slide orthogonal to the wheel
plane.
The fixed standard wheel has no vertical
axis of rotation for steering. Its angle to the
chassis is thus fixed, and it is limited to
motion back and forth along the wheel plane
and rotation around its contact point with
the ground plane.

A fixed standard wheel and its parameters.

a fixed standard wheel A and indicates its

position pose relative to the robots local
reference frame {XR, YR}

The angle of the wheel plane relative to the chassis is denoted by , which is fixed since
the fixed standard wheel is not steerable. The wheel, which has radius r , can spin over
time, and so its rotational position around its horizontal axle is a function of time t::
(t).
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The rolling constraint for this wheel enforces that all motion along the direction of the
wheel plane must be accompanied by the appropriate amount of wheel spin so that there is
pure rolling at the contact point:
(2.12)
The first term of the sum denotes the total motion along the wheel plane. The three
elements of the vector on the left represent mappings from each of
to their
contributions for motion along the wheel plane.
The sliding constraint for this wheel enforces that the component of the wheels motion
orthogonal to the wheel plane must be zero:
(2.13)

(2.14)

This constrains the component of motion

along XI to be zero and since XI and XR are
parallel in this example, the wheel is
constrained from sliding sideways, as
expected.
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The steered standard wheel differs from the fixed standard wheel only in that there is an
additional degree of freedom: the wheel may rotate around a vertical axis passing through
the center of the wheel and the ground contact point. The equations of position for the
steered standard wheel (figure 3.5) are identical to that of the fixed standard wheel shown
in the figure with one exception. The orientation of the wheel to the robot chassis is no
longer a single fixed value, , but instead varies as a function of time: (t) .
(2.15)
(2.16)

A steered standard wheel and its parameters.

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Castor wheels are able to steer around a vertical axis. However, unlike the steered standard
wheel, the vertical axis of rotation in a castor wheel does not pass through the ground
contact point.
The wheel contact point is now at position B, which is connected by a rigid rod of AB
fixed length d to point A fixes the location of the vertical axis about which B steers, and
this point A has a position specified in the robots reference frame, as in the figure.
We assume that the plane of the wheel is aligned with AB at all times. Similar to the
steered standard wheel, the castor wheel has two parameters that vary as a function of time,
(t), represents the wheel spin over time as before. (t) denotes the steering angle and
orientation of AB over time.
(2.17)
(2.18)

A castor wheel and its parameters.

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Swedish wheels have no vertical axis of rotation, yet are able to move omnidirectionally
like the castor wheel. This is possible by adding a degree of freedom to the fixed standard
wheel.
Swedish wheels consist of a fixed standard wheel with rollers attached to the wheel
perimeter with axes that are antiparallel to the main axis of the fixed wheel component. The
exact angle between the roller axes and the main axis can vary, as shown in figure.
(2.19)
(2.20)

A Swedish wheel and its parameters.

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Spherical wheel, a ball or spherical wheel, places no direct constraints on motion .
Such a mechanism has no principal axis of rotation, and therefore no appropriate
rolling or sliding constraints exist. As with castor wheels, the spherical wheel is clearly
omnidirectional and places no constraints on the robot chassis kinematics.
Therefore equation simply describes the roll rate of the ball in the direction of motion
vA of point A of the robot.
(2.21)

By definition the wheel rotation orthogonal to this direction

is zero.

(2.22)

A spherical wheel and its parameters.

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3.6. Working Space of mobile robot

Identifying a robots space of possible configurations is important because surprisingly
it can exceed .
In addition to workspace, we care about how the robot is able to move between various
configurations: what are the types of paths that it can follow and, furthermore, what are its
possible trajectories through this configuration space?
In defining the workspace of a robot, it is useful to first examine its admissible velocity
space.

3.7. Degree of Freedom (DOF) of robot

The Degree of Freedom (DOF) is the robots ability to achieve various poses.

Bicycle:

DOF=3

Differential wheel robot

DOF=3

3.8. Non-Holonomic Robots

A robot is holonomic if the controllable degrees of freedom are equal to the total
degrees of freedom.
In robotics a system is non-holonomic if the controllable degrees of freedom are less
than the total degrees of freedom
yI

x1, y1

s1=s2 ; s1R=s2R ; s1L=s2L

but: x1 x2 ; y1 y2
Non-holonomic systems

differential equations are not
integrable to the final
position.

the measure of the traveled
distance of each wheel is not
sufficient to calculate the final
position of the robot. One has
also to know how this
movement was executed as a
function of time.

s1L s1

s1R
s2L

x2, y2

s2
s2R

xI
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10

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Kinematic Position Control: Coordinates Transformation

Coordinates transformation into polar coordinates

with its origin at goal position:

: a new
tan 2 (polar
x, ycoordinates
) = arctangent x y
System description,Note
in the

for

for

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Kinematic Position Control: Remarks

The coordinates transformation is not defined at x = y = 0; as in such a point the determinant of

the Jacobian matrix of the transformation is not defined, i.e. it is unbounded

For
the forward direction
of the robot points toward the goal,
for
it is the backward direction.

By properly defining the forward direction of the robot at its initial configuration, it is always
possible to have
at t=0. However this does not mean that a remains in I1 for all time t.

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Kinematic Position Control: The Control Law

It can be shown, that with

the feedback controlled system

will drive the robot to

(,,) = (0,0,0)

The control signal v has always constant sign,

the direction of movement is kept positive or negative during movement
parking maneuver is performed always in the most natural way and without ever inverting
its motion.

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Kinematic Position Control: Stability Issue
It can further be shown, that the closed loop control system is locally exponentially stable if

k > 0 ; k < 0 ; k k > 0

Proof:
for small x > cosx = 1, sinx = x

k = (k , k , k ) = (3,8,1.5)

and the characteristic polynomial of the matrix A of all roots

have negative real parts.

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Additional Text

16

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(2.38)

(2.39)

(2.40)

17

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Kinematic model,

(2..41)

(2.42)

18

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(2.43)
(2.44)
(2.45)

(2.46)

19

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(2.47)

(2.48)

20

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The control law

(2.49)

(2.50)

(2.51)

21

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(2.52)

22

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Local stability issue.

2.51

(2.53)

(2.54)

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Resulting paths when the robot is initially on the

unit circle in the x,y plane.

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