×

On the motion of a mobile robot with roller-carrying wheels. (English. Russian original) Zbl 1294.93060

J. Comput. Syst. Sci. Int. 46, No. 6, 976-983 (2007); translation from Izv. Ross. Akad. Nauk, Teor. Sist. Upr. 2007, No. 6, 142-149. (2007).
Summary: The motion equations of a robot on a horizontal surface on three roller-carrying wheels of omni directional type are derived without account of possible slippage. An exact solution of the equations is found when at the direct-current motors moving the wheels a constant voltage is supplied. The problem of minimizing the torques of electric motors is considered and steady-state motion modes are specified for which the torques of electric motors and energy expenses are minimum. The reckoning system for the robot traveled distance is described.

MSC:

93C85 Automated systems (robots, etc.) in control theory
68T40 Artificial intelligence for robotics
PDFBibTeX XMLCite
Full Text: DOI

References:

[1] Yu. G. Martynenko, ”Motion Control for Mobile Wheeled Robots,” Fundamental’naya i Prikladnaya Matematika 11(8) (2005). · Zbl 1151.93396
[2] O. G. Gevorkyan, A. V. Lenskii, and Yu. G. Martynenko, ”A Mathematical Model of a Mobile Three-Wheeled Robot with the Leading Front Wheel,” in Proceedings of 2nd All-Russian Conference on Mechatronics, Automation, and Control, Ufa, Russia, 2005 (Ufa Scientific Center of RAS, Ufa, 2005), Vol. 2 [in Russian].
[3] P. F. Muir and C. P. Neuman, ”Kinematic Modeling for Feedback Control of an Omni Directional Wheeled Mobile Robots,” in Proceedings of IEEE International Conference on Robotics and Automation, Raleigh, 1987, pp.1772–1786.
[4] H. Asama, M. Sato, L. Bogoni, et al., ”Development of an Omni Directional Mobile Robot with 3 DOF Decoupling Drive Mechanism,” in Proceedings of IEEE International Conference on Robotics and Automation, Nagoja, Japan, 1995, pp.1925–1930.
[5] K. Watanabe, Y. Shiraishi, S. G. Tzafestas, et al., ”Feedback Control of an Omnidirectional Autonomous Platform for Mobile Service Robots,” J. Intell. Robotic Syst. 22, 315–330 (1998).
[6] A. H. Samani and A. Abdollahi, et al., ”Design and Development of a Comprehensive Omni Directional Soccer Player Robot,” Int. J. Advanced Robotic Syst. 1(3), 191–2000 (2004).
[7] http:/www.omniwheel.com .
[8] A. A. Zobova and Ya. V. Tatarinov, ”Mathematical Aspects of Motion Dynamics of a Vehicle with Three Rolled Wheels,” in Mobile Robots and Mechatronic Systems (Mosk. Gos. Univ., Moscow, 2006), pp. 61–67 [in Russian].
[9] Yu. G. Martynenko, ”On a Matrix Form of Equations of Non-Holonomic Mechanics,” in Collection of Papers on Theoretic Mechanics, Vol. 23 (Mosk. Gos. Univ., Moscow, 2000) [in Russian].
[10] D. M. Gorinevskii, A. M. Formal’skii, and A. Yu. Shneider, Control of Manipulator Systems Based on Information on Forces (Fizmatlit, Moscow, 1994) [in Russian].
[11] B. P. Demidovich, Lectures on Stability Theory (Fizmatlit, Moscow, 1967) [in Russian].
[12] V. N. Branets and I. P. Shmyglevskii, Introduction to Gimballess Inertial Navigation Systems (Fizmatlit, Moscow, 1992) [in Russian].
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.