Parametric Identification of the Mathematical Model of the Omnidirectional Mobile Robot KUKA youBot

Adamov, B. I.; Kobrin, A. I.; Federation, Moscow, , Russian

doi:10.17587/mau.19.251-258

Cited by 6 publications

(4 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The values of geometrical and physical parameters of the system, which are used below, are taken from the technical data of the robot [37]. Some parameters are estimated from the experimental data processing [1].…”

Section: The System Under Study and Its Modelmentioning

confidence: 99%

See 1 more Smart Citation

A Study of the Controlled Motion of a Four-wheeled Mecanum Platform

Adamov¹

2018

Nelin. Dinam.

View full text Add to dashboard Cite

The object of the study is the mobile platform of the KUKA youBot robot equipped with four Mecanum wheels. The ideal conditions for the point contact of the wheels and the floor are considered. It is assumed that the rollers of each Mecanum wheel move without slipping and the center of the wheel, the center of the roller axis, and the point of contact of the roller with the floor are located on the same straight line. The dynamics of the system is described using Appel's equations and taking into account the linear forces of viscous friction in the joints of the bodies. An algorithm for determination of the control forces is designed. Their structure is the same as that of the reactions of ideal constraints determined by the program motion of the point of the platform. The controlled dynamics of the system is studied using uniform circular motion of the platform point as an example: conditions for the existence and stability of steady rotations are found, conditions for the existence of stable-unstable stationary regimes and rotational motions of the platform are obtained. Within the framework of the theory of singular perturbations, an asymptotic analysis of the rotation of the platform is carried out.

show abstract

Section: The System Under Study and Its Modelmentioning

confidence: 99%

“…Further, in investigating the dynamics of the system, we will use the following parameter values [1,37]: …”

mentioning

confidence: 99%

A Study of the Controlled Motion of a Four-wheeled Mecanum Platform

Adamov¹

2018

Nelin. Dinam.

View full text Add to dashboard Cite

show abstract

“…В качестве числового примера для оценки погрешностей рассмотрим параметры робота KUKA youBot [16]: 0.235 м, 0.14 м, 0.05 м, 0.01 м.…”

unclassified

“…− вращение вокруг вертикальной оси, проходящей через геометрический центр платформы: Данные результаты позволяют сделать вывод о необходимости учета неточностей крепления осей колёс при построении системы управления. Отметим, что, поскольку погрешности крепления осей двигателей колёс являются неизвестными величинами, то для их определения требуется разрабатывать методики идентификации параметров математической модели движения робота [16].…”

unclassified

Analysis of Positioning Accuracy in Case of Design Errors in the Installation of Mecanum Wheels of the Mobile Platform

Pankrateva,

Mordin,

Saypulaev

2023

Vestnik Donskogo gosudarstvennogo tehničeskogo universiteta

View full text Add to dashboard Cite

Introduction. Mobile robots capable of omnidirectional movement are widely used in various fields of human activity. To provide high accuracy of positioning of omnidirectional platforms with mecanum wheels, it is required to develop their detailed mathematical models used in the construction of a motion control system. Due to the complicated design of the mecanum wheels, various errors may occur during the construction of omnidirectional platforms, including the error of installing such wheels on the platform. Its effect on the accuracy of the platform movement has not been studied before. This work aims at assessing the positioning errors that arise due to the presence of design errors in the installation of mecanum wheels, and analyzing the effect of these errors on the accuracy of program motion testing when using control at the kinematic level.Materials and Methods. The analysis of positioning accuracy was based on mathematical modeling of the platform kinematics, taking into account structural errors in the installation of mecanum wheels. To describe the relationship between the angular speeds of rotation of the wheels and the speeds of the platform, the conditions of nonslip of the contact points on the support surface were used. Numerical calculations were carried out in the Wolfram Mathematica package.Results. A formula was obtained for estimating errors in platform pseudovelocities under program control formed at the kinematic level. The estimation of the errors of the platform speeds for simple movements was carried out. According to the calculation results, it has been shown that the speed errors are significant for robots with mecanum wheels operating autonomously.Discussion and Conclusion. The calculation results demonstrated the significant impact of wheel installation errors on the positioning accuracy of the mecanum-platform, and confirmed the need to take into account these design errors when creating autonomous mecanum-platforms. The constructed model of the robot's kinematics makes it possible to predict errors in platform speeds that arise under program control, as well as deviations of the coordinates of the geometric center of the platform from the program motion. The proposed kinematic model can be used to improve the positioning accuracy through forming a platform motion control that compensates for the influence of wheel installation errors.

show abstract

A Study of the Dynamics of an Omnidirectional Platform, Taking into Account the Design of Mecanum Wheels and Multicomponent Contact Friction

Adamov

Saypulaev

2020

2020 International Conference Nonlinearity, Information and Robotics (NIR)

View full text Add to dashboard Cite

Parametric Identification of the Mathematical Model of the Omnidirectional Mobile Robot KUKA youBot

Cited by 6 publications

References 0 publications

A Study of the Controlled Motion of a Four-wheeled Mecanum Platform

A Study of the Controlled Motion of a Four-wheeled Mecanum Platform

Analysis of Positioning Accuracy in Case of Design Errors in the Installation of Mecanum Wheels of the Mobile Platform

A Study of the Dynamics of an Omnidirectional Platform, Taking into Account the Design of Mecanum Wheels and Multicomponent Contact Friction

Contact Info

Product

Resources

About