IMU-based Online Kinematic Model Parameter Estimation for Four-Wheeled Skid-Steering Mobile Robot Desired Motion Tracking on Different Terrains

Li, Kai; Bao, Le; Han, Changsoo; Shin, Kyung-Hoon; Kim, Wansoo

doi:10.23919/iccas55662.2022.10003946

2022 22nd International Conference on Control, Automation and Systems (ICCAS) 2022

DOI: 10.23919/iccas55662.2022.10003946

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IMU-based Online Kinematic Model Parameter Estimation for Four-Wheeled Skid-Steering Mobile Robot Desired Motion Tracking on Different Terrains

Kai Li

Le Bao

Changsoo Han

et al.

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2024

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An Asymmetric Independently Steerable Wheel for Climbing Robots and Its Motion Control Method

Lv,

Liu,

Xue

et al. 2024

Machines

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Climbing robots, with their expansive workspace and flexible deployment modes, have the potential to revolutionize the manufacturing processes of large and complex components. Given that the surfaces to be machined typically exhibit variable curvature, good surface adaptability, load capacity, and motion accuracy are essential prerequisites for climbing robots in manufacturing tasks. This paper addresses the manufacturing requirements of climbing robots by proposing an asymmetric independently steerable wheel (AISW) for climbing robots, along with the motion control method. Firstly, for the adaptability issue of the locomotion mechanism on curved surfaces under heavy load, an asymmetric independently steerable wheel motion module is proposed, which improves the steering difficulty of the traditional independently steerable wheel (ISW) based on the principle of steering assisted by wheels. Secondly, a kinematic model of the AISW chassis is established and, on this basis, a trajectory tracking method based on feedforward and proportional–integral feedback is proposed. Comparative experimental results on large, curved surface components show that the asymmetric independently steerable wheel has lower steering resistance and higher motion accuracy, significantly enhancing the reachability of climbing robots and facilitating their application in the manufacturing of large and complex components.

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An Asymmetric Independently Steerable Wheel for Climbing Robots and Its Motion Control Method

Lv,

Liu,

Xue

et al. 2024

Machines

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IMU-based Online Kinematic Model Parameter Estimation for Four-Wheeled Skid-Steering Mobile Robot Desired Motion Tracking on Different Terrains

Cited by 1 publication

References 16 publications

An Asymmetric Independently Steerable Wheel for Climbing Robots and Its Motion Control Method

An Asymmetric Independently Steerable Wheel for Climbing Robots and Its Motion Control Method

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