Beruflich Dokumente
Kultur Dokumente
Dr. T. Asokan
E-mail: asok@iitm.ac.in
Contents
Locomotion
Wheeled Locomotion
Wheel design
Wheel configuration
Stability
Manuverability
Kinematics
Kinematic models and constraints
Maneuverability
Motion control
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Seekur robot
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Introduction to Robotics
WMR
A WMR consists of a main body which is able to move on a
surface of travel by means of one or more wheels.
Each wheel of a WMR may be considered as an open
chain; however, since each wheel connects a common
surface of travel the WMR is a closedchain.
Introduction to Robotics
A collection of subsystems:
Introduction to Robotics
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Locomotion concepts
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Legged locomotion
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Hopping machine
Bipedal
Quadruped
Hexapod
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Synchronous Drive
Omni-directional
Car Drive (Ackerman Steering)
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Wheeled Locomotion
Wheel Design
Wheel Geometry/configuration
Stability
Maneuverability
Controllability
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WHEEL DESIGN
Castor Wheel
Two degrees of freedom
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Wheel configurations
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Stability
Minimum two wheels needed for static
stability (provided Centre of mass is below
wheel axle)
Stability can be improved by adding more
wheels
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Maneuverability
Ability to move in any direction irrespective of
the orientation of the robot
Degree of Maneuverability: The overall
degrees of freedom that a robot can manipulate
Degree of maneuverability= Degree of
mobility+ Degree of steerability
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Degree of Mobility
The degree of freedom of the robot motion
Cannot move
anywhere (No
ICR)
Degree of mobility : 0
Variable arc
motion (line of
ICRs)
Degree of mobility : 2
ICR: Instantaneous Centre of Rotation
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Degree of mobility : 3
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Degree of Steerability
The number of centered orientable wheels that can be steered
independently in order to steer the robot
Degree of steerability : 0
Two mutually
dependent centered
orientable wheels
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Degree of steerability : 1
Dr T ASOKAN, IIT MADRAS
Degree of steerability : 2
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Degree of Maneuverability
M m s
Degree of Mobility
Degree of Steerability
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Synchro drive
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Kinematics Model
Goal:
yI
v(t)
s(t)
Inverse kinematics
1 n 1 m 1 m T f ( x, y,)
x
why not
y f ( 1 , n , 1 , m )
-> not straight forward
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xI
YR
XR
T
Robot position: I x y
Mapping between the two frames
T
I R R R x y
R R I R x y
1
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XI
cos sin 0
R 1 R( )T sin cos 0
0
0
1
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Example
cos sin 0
R 1 R( )T sin cos 0
0
0
1
-1
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Example
If a mobile robot parameters are given as
theta=pi/2, r=1, l=1 and the wheel speeds are
4 and 2 , find the velocity of the robot wrt
inertial frame.
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YI
YR
XR
XI
Rolling constraint: Wheel must roll in the appropriate direction when the
motion takes place
Sliding Constraint: No lateral slippage- wheel must not slide orthogonal to the
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wheel
plane
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-1
-1
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Rolling constraint
-1
-1
Sliding constraint
-1
J1 f R( )I J 2 0
-1
C1 f R( ) I 0
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Rolling constraint
-1
-1
Sliding constraint
-1
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J1 ( s ) R( )I J 2 0
-1
C1 ( s ) R( 50
)I 0
Castor Wheel
Rolling constraint
-1
-1
cos(a )
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sin(a ) d l sin R( ) I d 0
-1
J1 ( s ) R( )I J. 2 0
-1
C1( s ) R( )I C2 ( 51s ) 0
Swedish Wheel
What will
happen if =0 or
90?
-1
J1 ( s ) R( )I J 2 0
-1
C ( ) R( ) 0
1
sin(a )
cos(a )
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-1 .
.
rsw sw 0
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Spherical Wheel
-1
-1
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J1( s ) R( )I J 2 0
J1 f J diag(r r )
J1 ( s )
2
1
N
J1s ( s )
N f N s 3
Lateral movement
C1 ( s ) R( )I 0
-1
C1 f
C1 ( s )
C
(
)
1s s
(t )
f (t )
(t )
s
size N f N s 1
N f N s 3
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xI
-1
-1
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Swedish Wheel
sin(a )
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-1 .
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Summary
Wheeled locomotion
Wheel Design
Wheel Geometry/configuration
Stability
Maneuverability
Wheel Kinematic constraints
Robot Kinematic constraints
Motion Control
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Assignment II
(x
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Project/Seminar
Group Projects (max. four members)
Individual Seminar
Choose a topic
Inform the TA
Make a report
Make a presentation
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