The Kinematics of Wheeled Mobile Robots With Dual-Wheel Transmission Units

2007 ◽  
Vol 130 (1) ◽  
Author(s):  
Chao Chen ◽  
Svetlana Ostrovskaya ◽  
Jorge Angeles
Keyword(s):  
Mobile Robots ◽  
Closed Form ◽  
Trajectory Tracking ◽  
Inverse Kinematics ◽  
Driving Mechanism ◽  
Ground Contact ◽  
Wheeled Mobile Robots ◽  
Closed Form Solutions ◽  
Novel Technique ◽  
Curve Method

The dual-wheel transmission unit, an innovative driving mechanism for wheeled mobile robots, was introduced elsewhere. In this paper, we discuss wheeled mobile robots with such units, supplied with a novel suspension to keep the wheel-ground contact in spite of the irregularities of the floor. We derive closed-form solutions and constraints pertaining to the direct and inverse-kinematics problems of these robots; the constraints reveal the mobility of the robots at hand. Furthermore, we provide an algorithm for the trajectory tracking of the same robots that relies on a novel technique, which is termed the companion-curve method.

The Kinematics of Wheeled Mobile Robots With Dual-Wheel Transmission Units

2004 ◽  
Author(s):  
Chao Chen ◽  
Svetlana Ostrovskaya ◽  
Jorge Angeles
Keyword(s):  
Computational Complexity ◽  
Mobile Robots ◽  
Closed Form ◽  
Kinematic Analysis ◽  
Inverse Kinematic ◽  
Driving Mechanism ◽  
Real Time Control ◽  
Wheeled Mobile Robots ◽  
Time Control ◽  
Inverse Kinematic Analysis

The Dual-Wheel Transmission (DWT) unit, an innovative driving mechanism for wheeled mobile robots (WMRs), was introduced elsewhere. In this paper we conduct the direct and inverse kinematic analysis of WMRs with such units. This analysis can be applied as well to other types of WMRs equipped with conventional wheels. Both central and offset types of wheel units are discussed. The closed form symbolic solutions provided in this paper may reduce the computational complexity, as required in the real time control of such systems. Furthermore, the underlying relations reveal the geometric and physical meanings of the constraints imposed on the robots at hand.

scholarly journals IKBT: Solving Symbolic Inverse Kinematics with Behavior Tree (Extended Abstract)

2020 ◽  
Author(s):  
Dianmu Zhang ◽  
Blake Hannaford
Keyword(s):  
Closed Form ◽  
Inverse Kinematics ◽  
Intelligent System ◽  
Logical Reasoning ◽  
Robot Arm ◽  
Kinematics Analysis ◽  
Closed Form Solutions ◽  
Behavior Tree ◽  
Behavior Trees ◽  
High Level

Inverse kinematics solves the problem of how to control robot arm joints to achieve desired end effector positions, which is critical to any robot arm design and implementations of control algorithms. It is a common misunderstanding that closed-form inverse kinematics analysis is solved. Popular software and algorithms, such as gradient descent or any multi-variant equations solving algorithm, claims solving inverse kinematics but only on the numerical level. While the numerical inverse kinematics solutions are relatively straightforward to obtain, these methods often fail, even when the inverse kinematics solutions exist. Therefore, closed-form inverse kinematics analysis is superior, but there is no generalized automated algorithm. Up till now, the high-level logical reasoning involved in solving closed-form inverse kinematics made it hard to automate, so it's handled by human experts. We developed IKBT, a knowledge-based intelligent system that can mimic human experts' behaviors in solving closed-from inverse kinematics using Behavior Tree. Knowledge and rules used by engineers when solving closed-from inverse kinematics are encoded as actions in Behavior Tree. The order of applying these rules is governed by higher level composite nodes, which resembles the logical reasoning process of engineers. It is also the first time that the dependency of joint variables, an important issue in inverse kinematics analysis, is automatically tracked in graph form. Besides generating closed-form solutions, IKBT also explains its solving strategies in human (engineers) interpretable form. This is a proof-of-concept of using Behavior Trees to solve high-cognitive problems.

scholarly journals Modeling the Kinematics of Two Robots with Denavit–Hartenberg Notation

2020 ◽  
Vol 44 (4) ◽  
pp. 121-128
Author(s):  
Andrzej Burghardt ◽  
Wincenty Skwarek
Keyword(s):  
Mobile Robots ◽  
Inverse Kinematics ◽  
Wheeled Mobile Robots ◽  
Matlab Simulink ◽  
Kinematics Model

AbstractThis article presents a description and methodology for building a kinematics model for the formation of two-wheeled mobile robots transporting a beam using Denavit–Hartenberg notation. The simple and inverse kinematics tasks of this formation were solved. Solutions of kinematics tasks are presented in junction coordinates and global coordinates. The obtained results were simulated using the Matlab–Simulink package together with animation of the solution using a programmed emulator of robot work.

scholarly journals Trajectory Tracking of Wheeled Mobile Robots Using Z-Number Based Fuzzy Logic

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 18426-18441
Author(s):  
Mohamed Abdelwahab ◽  
Victor Parque ◽  
Ahmed M. R. Fath Elbab ◽  
A. A. Abouelsoud ◽  
Shigeki Sugano
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Wheeled Mobile Robots
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