Kinematics modeling and analyses of articulated rovers

Tarokh, Mahmoud; McDermott, G.

doi:10.1109/tro.2005.847602

Cited by 133 publications

(98 citation statements)

References 15 publications

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“…More recently in 2005, Tarokh and McDermott published a general approach to modeling full 6-DOF kinematics for articulated rovers driving on uneven terrain [13]. Their approach resembles Muir and Newman in requiring the derivation of homogenous transform graphs and the differentiation of transforms to compute wheel Jacobians.…”

Section: Prior Workmentioning

confidence: 99%

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A Vector Algebra Formulation of Mobile Robot Velocity Kinematics

Kelly

Seegmiller

2013

Springer Tracts in Advanced Robotics

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Typical formulations of the forward and inverse velocity kinematics of wheeled mobile robots assume flat terrain, consistent constraints, and no slip at the wheels. Such assumptions can sometimes permit the wheel constraints to be substituted into the differential equation to produce a compact, apparently unconstrained result. However, in the general case, the terrain is not flat, the wheel constraints cannot be eliminated in this way, and they are typically inconsistent if derived from sensed information. In reality, the motion of a WMR is restricted to a manifold which more-or-less satisfies the wheel slip constraints while both following the terrain and responding to the inputs. To address these more realistic cases, we have developed a formulation of WMR velocity kinematics as a differential-algebraic system -a constrained differential equation of first order. This paper presents the modeling part of the formulation. The Transport Theorem is used to derive a generic 3D model of the motion at the wheels which is implied by the motion of an arbitrarily articulated body. This wheel equation is the basis for forward and inverse velocity kinematics and for the expression of explicit constraints of wheel slip and terrain following. The result is a mathematically correct method for predicting motion over non-flat terrain for arbitrary wheeled vehicles on arbitrary terrain subject to arbitrary constraints. We validate our formulation by applying it to a Mars rover prototype with a passive suspension in a context where ground truth measurement is easy to obtain. Our approach can constitute a key component of more informed state estimation, motion control, and motion planning algorithms for wheeled mobile robots.

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Section: Prior Workmentioning

confidence: 99%

“…This new approach is intuitive and, unlike [13], does not require differentiation. Our method for propagating velocities forward through a kinematic chain is a classical one that has also been used in robot manipulation [9].…”

Section: Prior Workmentioning

confidence: 99%

A Vector Algebra Formulation of Mobile Robot Velocity Kinematics

Kelly

Seegmiller

2013

Springer Tracts in Advanced Robotics

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“…Taking the derivative of (9) and substituting to (7), then multiplying by T s on both sides, we get:…”

Section: Dynamic Model Of Three-wheeled Robotmentioning

confidence: 99%

Kinematics and Dynamic Modeling and Simulation Analysis of Three-wheeled Mobile Robot

Du¹

2017

dtetr

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Abstract. Mobile robot is a typical nonlinear control system with nonholonomic constraints, so the system presents some complex features, and the system control becomes quite difficult. But nonholonomic makes robot structure has higher flexibility and reliability. Kinematics model and dynamic model are the foundations for system design and analysis of dynamic and kinematics performance, and are also the guarantee of controller practicability. After finishing nonholonomic characteristic analysis, coordinate transformation method and Lagrange equation method are used to establish kinematics and dynamic model of three-wheeled mobile robot with two driving wheels in this paper. The rationality and validity of the models are verified by simulation result of trajectory tracking.

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“…are attached via 1-DOF revolute or prismatic joints. All branches terminate with wheel frames, Table 2 Rocky 7 frames table [22] i Frame Parent Type Act. which by convention are attached via revolute joints about their y-axes.…”

Section: Kinematic Model and State Spacementioning

confidence: 99%

Modular Dynamic Simulation of Wheeled Mobile Robots

Seegmiller

Kelly

2015

Springer Tracts in Advanced Robotics

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This paper presents a modular method for 3D dynamic simulation of wheeled mobile robots (WMRs). Our method extends efficient dynamics algorithms based on spatial vector algebra to accommodate any articulated WMR configuration. In contrast to some alternatives, our method also supports complex, nonlinear wheel-ground contact models. Instead of directly adding contact forces, we solve for them in a novel differential algebraic equation (DAE) formulation. To make this possible we resolve issues of nonlinearity and overconstraint. We demonstrate our method's flexibility and speed through simulations of two state-of-the-art WMR platforms and wheel-ground contact models. Simulation accuracy is verified in a physical experiment.

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Kinematics modeling and analyses of articulated rovers

Cited by 133 publications

References 15 publications

A Vector Algebra Formulation of Mobile Robot Velocity Kinematics

A Vector Algebra Formulation of Mobile Robot Velocity Kinematics

Kinematics and Dynamic Modeling and Simulation Analysis of Three-wheeled Mobile Robot

Modular Dynamic Simulation of Wheeled Mobile Robots

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