Autonomous and Mobile RoboticsProf. Giuseppe Oriolo

Wheeled Mobile Robots 1 Mechanics of Mobile Robots

companion slides for the blackboard lecture

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 2

wheels

three basic types

fixed orientable(steerable)

caster

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 3

kinematic structures

differential-drive mobile robot

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 4

kinematic structures

synchro-drive mobile robot

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 5

kinematic structures

tricycle car-like

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 6

kinematic structures

omnidirectional mobile robot with 3 (actuated) caster wheels

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 7

kinematic structures

Mecanum (Swedish) wheels can be also usedto build omnidirectional

mobile robots

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 8

example of nonholonomic constraint

rolling disk

generalized coordinates

purerolling

sagittal axiszero motion

line

Oriolo: Autonomous and Mobile Robotics - Mechanics of Mobile Robots: Companion slides 9

the disk can go from any initial to any final configuration

hence, the rolling constraint is nonholonomic

e.g.1. rotate so as to align with

the final position2. roll up to the final position3. rotate up to the final

orientation

rotate

rotate

roll