Journal
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
Volume 18, Issue 3, Pages 285-293Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRA.2002.1019459
Keywords
dynamic model; omnidirectional mobile robot; sliding friction model; wheel slip
Ask authors/readers for more resources
A dynamic model is presented for omnidirectional wheeled mobile robots, including wheel/motion surface slip. We derive the dynamics model, experimentally measure friction coefficients, and measure the force to cause slip (to validate our friction model). Dynamic simulation examples are presented to demonstrate omnidirectional motion with slip. After developing an improved friction model, compared to our initial model, the simulation results agree well with experimentally-measured trajectory data with slip. Initially, we thought that only high robot velocity and acceleration governed the resulting slipping motion. However, we learned that the rigid material existing in the discontinuities between omnidirectional wheel rollers plays an equally important role in determining omnidirectional mobile robot dynamic slip motion, even at low rates and accelerations.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available