International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Singularity-Free Dynamic Modeling Including Wheel Dynamics for an Omni-Directional Mobile Robot with Three Caster Wheels

  • Chung, Jae-Heon (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Yi, Byung-Ju (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Kim, Whee-Kuk (Department of Control and Instrumentation Engineering, Korea University) ;
  • Han, Seog-Young (Department of Mechanical Engineering, Hanyang University)
  • Published : 2008.02.28
Download PDF
⟨ Previous Next ⟩

Abstract

Most of the previously employed dynamic modeling approaches, including Natural Orthogonal Complement Algorithm, have limitations on their application to the mobile robot, specifically at singular configurations. Also, in their dynamic modeling of mobile robots, wheel dynamics is usually ignored assuming that its dynamic effect is negligibly small. As a remedy for this, a singularity-free operational space dynamic modeling approach based on Lagrange's form of the D' Alembert principle is proposed, and the singularity-free characteristic of the proposed dynamic modeling is discussed in the process of analytical derivation of the proposed dynamic model. Then an accurate dynamic model taking into account the wheel dynamics of the omni-directional mobile robot is derived, and through simulation it is manifested that the effect of the wheel dynamics on the whole dynamic model of the mobile robot may not be negligible, but rather in some cases it is significantly large, possibly affecting the operational performances of dynamic model-based control algorithms. Lastly, the importance of its accurate dynamic model is further illustrated through impulse analysis and its simulation for the mobile robot.

Keywords

References

  1. C. Campion, G. Batin, and B. D'Andrea-Novel, "Structural properties and classification of kinematics and dynamics models of wheeled mobile robot," IEEE Trans. on Robot and Automation, vol. 4, no. 2, pp. 281-340, 1987
  2. B.-J. Yi and W. K. Kim, "The kinematics for redundantly actuated omni-directional mobile robots," Journal Robotic Systems, vol. 19, no. 6, pp. 255-267, 2002 https://doi.org/10.1002/rob.10039
  3. W. K. Kim, B.-J. Yi, and D. J. Lim, "Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates," Journal of Robotic Systems, vol. 21, no. 6, pp. 301-322, 2004 https://doi.org/10.1002/rob.20015
  4. S. K. Saha and J. Angels, "Kinematics and dynamics of a three wheeled 2-DOF AVG," Proc. of IEEE Int. Conf. Robotics and Automation, pp. 1572-1577, 1989
  5. B.-J. Yi, W. K. Kim, and S. Park, "Kinematic/dynamic modeling and analysis of omni-directional mobile robots with redundant actuation," Tutorial (TS2) for vehicle mechanisms having actuation redundancy and adaptable kinematic structure, Proc. of IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 1-25, 1999
  6. R. A. Freeman and D. Tesar, "Dynamic modeling of serial and parallel mechanisms/robotic systems, Part I-Methodology, Part II-Applications," Proc. of the 20th Conf. ASME Biennial Mechanism, pp. 7-27, 1988
  7. B.-J. Yi and R. A. Freeman, "Geometric analysis of antagonistic stiffness in redundantly actuated parallel mechanisms," Journal of Robotic Systems, vol. 10, no. 5, pp. 581-603, 1993 https://doi.org/10.1002/rob.4620100504
  8. M. W. Walker and D. E. Orin, "Efficient dynamic computer simulation of robotic mechanisms," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 104, no. 3, pp. 205-211, 1982 https://doi.org/10.1115/1.3139699
  9. C.-J. Li, "A new Lagrangian formulation of dynamics for robot manipulators," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 111, pp. 559-567, 1989 https://doi.org/10.1115/1.3153092
  10. W. Cho and D. Tesar, "The dynamics and stiffness modeling of general robotic manipulator systems with antagonistic actuation," Proc. of IEEE Int. Conf. Robotics and Automation, pp. 1380-1387, 1989
  11. F. C. Park, J. C. Choi, and S. R. Ploen, "Symbolic formulation of closed chain dynamics in independent coordinates," Mechanism and Machine Theory, vol. 34, no. 5, pp. 731-751, 1999 https://doi.org/10.1016/S0094-114X(98)00052-4
  12. J. Wittenburg, Dynamics of Systems of Rigid Bodies, Stuttgart, B.G. Teubner, 1977
  13. I. D. Walker, "The use of kinematic redundancy in reducing impact and contact effects in manipulation," Proc. of IEEE Int. Conf. Robotics and Automation, pp. 434-439, 1990