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.

Closed-Form Inverse Kinematic Analysis of Variable-Geometry Truss Manipulators

1992 ◽  
Vol 114 (3) ◽  
pp. 438-443 ◽  
Author(s):  
B. Padmanabhan ◽  
V. Arun ◽  
C. F. Reinholtz
Keyword(s):  
Closed Form ◽  
Kinematic Analysis ◽  
Practical Importance ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Variable Geometry ◽  
Inverse Kinematic Problem ◽  
Inverse Kinematic Analysis ◽  
Variable Geometry Truss

A variety of applications for variable-geometry truss manipulators (VGTMs) have been demonstrated or proposed in the literature. Most of these applications require solution to the inverse kinematic problem, yet only a few isolated examples of closed-form solution methods have been presented to date. This paper provides an overview to the general problem of inverse kinematic analysis of variable-geometry truss manipulators and presents new closed-form solution techniques for problems of practical importance.

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.

scholarly journals Dual-Rate Lane-Keeping Control for an Autonomous Ground Vehicle. Comparison of Different Strategies

2021 ◽  
Author(s):  
Julian Mauricio Salt Ducajú ◽  
Julián J. Salt Llobregat ◽  
Angel Cuenca Lacruz ◽  
Masayoshi Tomizuka
Keyword(s):  
Computational Complexity ◽  
Kalman Filters ◽  
Linear Models ◽  
Control Strategies ◽  
Longitudinal Velocity ◽  
Front Wheel ◽  
Inverse Kinematic ◽  
Real Time Control ◽  
Time Control ◽  
Lane Keeping

In this contribution, different lane-keeping control strategies for Autonomous Ground Vehicles (AGV) have been analyzed and compared. The AGV must be oriented and kept within a given reference path using the front wheel steering angle as the control action for a specific longitudinal velocity. While non-linear models can describe the lateral dynamics of the vehicle in an accurate manner, they might lead to difficulties when computing some real-time control laws such as Model Predictive Control (MPC). Linear Parameter Varying (LPV) models can provide a trade-off between computational complexity and model accuracy. Another way to reduce computational complexity is to explore other control strategies, for example, the one based on the Inverse Kinematic Bicycle model (IKIBI). Additionally, AGV sensors typically work at different measurement acquisition frequencies so that Kalman Filters (KF) are usually needed for sensor fusion. If these frequencies are slower than the actuation rate, a multi-rate KF may be needed. The two control strategies (MPC using a LPV model and IKIBI) have been compared in simulations over a circuit path in the presence of process and measurement Gaussian noise. The MPC controller has shown to provide a more accurate lane-keeping behavior than an IKIBI control strategy. Finally, it has been seen that Dual-Rate Extended Kalman Filters (DREKF) constitute an essential tool when only slow and noisy sensor feedback is available in an AGV lane-keeping application.

Inverse Kinematic Analysis of Three Link Mechanism for Fin Actuation of Fish Like Micro Device

2015 ◽  
Vol 24 ◽  
pp. 77-81 ◽  
Author(s):  
Mazhar Ul Haq ◽  
Zhao Gang ◽  
Fazl E. Ahad ◽  
Anees Ur Rehman ◽  
Muhammad Hussain
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematic ◽  
Design Verification ◽  
Simulation Tools ◽  
Analysis And Design ◽  
Link Mechanism ◽  
Inverse Kinematic Analysis ◽  
Verification Process ◽  
Process Computer ◽  
Functional Prototype

In this paper, inverse kinematic analysis of a proposed three link mechanism of a bio-inspired micro scanning device towed underwater by a surface vessel to actuate its aileron fins for its depth control and for its stabilization against roll is performed. Mechanism is actuated by IPMC actuators. To speed up the design verification process, computer aided simulations are used to perform motion analysis of the proposed IPMC actuated mechanism through Pro/Mechanism tool. Inverse kinematic analysis is performed to find out the joint variables of the mechanism to realize fin actuation along desired path. Displacements, velocities and accelerations of the links constructing mechanism are found out to establish their interrelationship. Results are analysed for the study of mechanism efficacy and for sizing the IPMC actuators. This paper contributes to introduce a new approach of virtual prototyping using advanced simulation tools for analysis and design verification of IPMC actuated mechanisms for biomimetic applications before moving into functional prototype stage.

scholarly journals Teleoperation Control Design with Virtual Force Feedback for the Cable-Driven Hyper-Redundant Continuum Manipulator

2020 ◽  
Vol 10 (22) ◽  
pp. 8031
Author(s):  
Long Qin ◽  
Fanghao Huang ◽  
Zheng Chen ◽  
Wei Song ◽  
Shiqiang Zhu
Keyword(s):  
Force Feedback ◽  
Inverse Kinematic ◽  
Real Time Control ◽  
Kinematics Model ◽  
Time Control ◽  
Virtual Force ◽  
Control Scheme ◽  
Continuum Manipulators ◽  
Transmission Structure ◽  
And Control

Hyper-redundant continuum manipulators present dexterous kinematic skills in complicated tasks and demonstrate promising potential in underground exploration, intra-cavity inspection, surgery, etc. However, the hyper-redundancy, which endows much dexterity and flexibility, brings a huge challenge to the kinematics solution and control of the continuum manipulators. Due to the pseudoinverse calculation of high-order Jacobian matrix or iteration, many inverse kinematic solution approaches of continuum manipulators are very time-consuming, which extremely limit their applicability in real-time control. Additionally, it is often difficult for the manipulators to perform the tasks well in complex scenarios due to lack of human intervention. Therefore, in this paper, a simplified kinematics model of a typical hyper-redundant manipulator is proposed based on its unique geometry relationships, where the mapping relationships between the actuators’ rotation and the end-effector’s position are derived through the analysis of its driving subsystem and motion subsystem, in particular the joint modules. To perform the tasks of manipulators with the help of operators, a teleoperation control scheme with modified wave transmission structure is designed to achieve the guaranteed stability and improved transparency, and the leader’s trajectory and generated force feedback are the transmitted signals in the communication channel. Specifically, a virtual force feedback generation algorithm is developed in the teleoperation control scheme via the processing tracking errors, which can improve the operators’ assistance and perception during the teleoperation process. The practical experiments with comparative wave variable structures in two different sets are implemented to verify the effectiveness of proposed kinematics model and control scheme.

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