The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지

Realization of Differential Drive Wheeled Mobile Robot Dynamic Modeling Using Newton's Equilibrium law

뉴튼의 평행법칙을 이용한 차동구동 이동로봇의 동력학 모델링 구현

  • 정용욱 (한국국제대학교 기계자동차공학과) ;
  • 정구섭 (한국국제대학교 기계자동차공학과)
  • Received : 2010.08.03
  • Accepted : 2010.10.21
  • Published : 2010.11.30
Download PDF
⟨ Previous Next ⟩

Abstract

We presents a dynamic modeling of 4-wheel 2-DOF. WMR. The classic dynamic model utilizes a greatly simplified wheel motion representation and using of a simplified dynamic model confronts with a problem for accurate position control of wheeled mobile robot. In this paper, we treats the dynamic model for describes relationship between the wheel actuator force/torque and WMR motion through the use of Newton's equilibrium laws. To calculate the WMR position in real time, we introduced the Dead-Reckoning algorithms and the simulation result show that the proposed dynamic model is useful. We can be easily extend the proposed WMR model to mobile robot of similar type and this type of methodology is useful to analyze, design and control any kinds of rolling robots.

Keywords

References

  1. P.tournassoud and O.Jehl, "Motion Planning for a Mobile Robot with Constraint ", Proc.IEEE Int. Conf. Robotics and Automation, pp.1785-1790,1988.
  2. Thomas and Hugh F.Durrant : "Kinematics for Modular Wheeled Mobile Robots." Proc.IEEE Int. Conf. Robotics and Automation, pp.1130-1135, Apr.1991
  3. P.Muir and C.Newman,"Dynamic Modeling of Wheeled Mobile Robots," Proc.IEEE Int. Conf. Robotics and Automation, pp.1546-1553, April .1988.
  4. S.K.Shha and J.Angeles,"Kinematics and Dynamics of Three- Wheeled 2- DOF AGV",Proc.IEEE Int. Conf. Robotics and Automation, pp.1572-1577, May.1989.
  5. P.Muir and C.Newman,"Kinematic Modeling of Wheeled Mobile Robots, "Journal of Robotic Systems, Vol. 4, No.2, pp. 281-333, 1987. https://doi.org/10.1002/rob.4620040209
  6. Y.Zhao, "Theoretical and Experimental Studies of Mobile Robot Navigation ", Ph.D.Thesis,the University of Michgan,1991.
  7. John J. Craig, "Introduction Robotics Mechnics & Control"
  8. D.E.Orin and S.Y.Oh,"control of force distribution in robotic mechanisms contaning closed kinematic chains "transactions of the ASME Vol.102, June, pp134-141, 1981.
  9. P.N.Sheth and J.J. Uicker,Jr., "A generalized symbolic notation for mechatronics",Journal of Engineering for Industral,Vol.93, No7019, 102-112, 1971.
  10. A.Meystel : "Autonomous Mobile Robots ", World Scientific Publishing.
  11. J.Alexander & J.Maddocks : "Autonomous Robot Vehicles", Springer- Verlag.
  12. Yutaka Kanayama : "Two Dimensional Wheeled Vehicle Kinematics" Proc. IEEE Int. Conf. Robotics and Automation, pp.3079-3084,1994.
  13. Y.Zhao,"Theoretical and Experimental Studies of Mobile Robot Navigation", Ph.D.Thesis, the University of Michgan, 2007.
  14. Z.Li and J.Canny,"Motion of two rigid bodies with rolling constraint" IEEE Int. Conf. Robotics and Automation, Vol.6, No.1, pp.62-72, 1990.
  15. J.Alexander and J. Maddocks,"On the maneuvering of vehicles",SIME Journal of applied Mathematics, Vol.48, pp.38-51, February 1988. https://doi.org/10.1137/0148002
  16. Nicosia,S.and Tomei,P.,"Model -Reference Adaptive Control Algorithms for Industrial Robots", Automatica, Vol.20, No.5, pp. 635-644, 1984. https://doi.org/10.1016/0005-1098(84)90013-X
  17. Y.O.Chung, and C.K.Park,"A Position Control Differential Drive Wheeled Mobile Robot", IEEE Transaction On Industrial Electronics, Vol.48, No.4, pp. 853-863, 2001. https://doi.org/10.1109/41.937419
  18. K.Tchon,"Optimal extended jacobian inverse kinematics algorithms for robotic manipulators" IEEE Transaction On Robotics, Vol.24, No.6, pp.1440-1445, 2008. https://doi.org/10.1109/TRO.2008.2006240