New Advances in Mechanisms, Mechanical Transmissions and Robotics by Burkhard Corves Erwin-Christian Lovasz Mathias Hüsing Inocentiu Maniu & Corina Gruescu

Author:Burkhard Corves, Erwin-Christian Lovasz, Mathias Hüsing, Inocentiu Maniu & Corina Gruescu
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

1 Introduction

Wheeled-legged robots are the subject of research and development amongst many research centres all over the world. Robots Hylos [1] or WorkPartner [2] are the representants of such multibody systems. The wheeled-legged mobile robot LegVan [3, 4] presented in this paper, features similar kinematics structure to the above-mentioned Hylos robot. Legvan is a four limbs structure, with four actuators in each limb, which gives us sixteen actuators in total.

Kinematics model of such robot is highly complex due to the existence of either holonomic and nonholonomic constraints. Wheeled-legged robots are capable of negotiating obstacles mostly in two ways. It can walk over obstacles without using its wheel drives, or simply bypass them only by rolling the wheels. When movement is based on robot’s wheel drives, it is highly desirable to execute it without the wheel slip. Simply due to the fact that it causes huge energy losses and robot odometer system gets much more complicated. Paper [5] introduces a robot model where wheels are modelled as a torus moving over uneven terrain, but especially designed passive joints are used to prevent wheel slip. The general kinetostatic formulation of quasi-static motion regarding articulated wheeled rovers with non-ideal contact conditions is presented in [1].

This paper deals with wheel slippage phenomenon using Pfaffian constraints matrix and its null space matrix mentioned above. Based on those constraints, control system providing the movement of a robot platform without slipping is proposed.

Download

Copyright Disclaimer:
This site does not store any files on its server. We only index and link to content provided by other sites. Please contact the content providers to delete copyright contents if any and email us, we'll remove relevant links or contents immediately.