Simulation of motion of a mobile robot on uneven terrain
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Wrocław University of Science and Technology, Faculty of Mechanical Engineering, Wrocław, Poland
Przemysław Grzegorz Sperzyński   

Department of Biomedical Engineering, Mechatronics and Theory of Mechanisms, Faculty of Mechanical Engineering, Wrocław University of Science and Technology, Ignacego Łukasiewicza 7/9 street, 50-371, Wrocław, Poland
Submission date: 2019-12-02
Final revision date: 2020-02-11
Acceptance date: 2020-02-28
Online publication date: 2020-04-15
Publication date: 2020-04-15
Journal of Theoretical and Applied Mechanics 2020;58(2):541–552
In the paper, a kinematical model of the robot moving on uneven terrain has been presented. Configuration of the robot placed on uneven terrain is described, presenting the redundant set of variables that create the state of the robot. Inverse kinematics tasks have been defined, which as a result of various assumptions, gives the robot configuration. To solve the kinematics tasks, adequate closed-loop equations have been defined. Velocity equations of the point of the wheel contact with the ground have been presented with respect to the velocity of the platform itself and velocities of the robot actuators. Assuming constraints of the wheel movement causing a no-slip condition, dependencies between those velocities have been determined. This allowed one to determine velocities of the robot drives, so that the platform moves in the way specified by the user.
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