Autonomous and Mobile RoboticsProf. Giuseppe Oriolo
Wheeled Mobile Robots 1 Mechanics of Mobile Robots
companion slides for the blackboard lecture
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wheels
three basic types
fixed orientable(steerable)
caster
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kinematic structures
differential-drive mobile robot
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kinematic structures
synchro-drive mobile robot
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kinematic structures
tricycle car-like
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kinematic structures
omnidirectional mobile robot with 3 (actuated) caster wheels
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kinematic structures
Mecanum (Swedish) wheels can be also usedto build omnidirectional
mobile robots
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example of nonholonomic constraint
rolling disk
generalized coordinates
purerolling
sagittal axiszero motion
line
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the disk can go from any initial to any final configuration
hence, the rolling constraint is nonholonomic
e.g.1. rotate so as to align with
the final position2. roll up to the final position3. rotate up to the final
orientation
rotate
rotate
roll