Abstract
One kind of very useful service robots is the lawnmower, for example, the Automower® developed since two decades by the Swedish company Husqvarna. From a robotic point of view, this is a mobile platform driven by two big wheels along one axis and it has two small omnidirectional supporting casters. Thus, Automower® has three positional degrees of freedom in the plane, and two controllable velocity degrees of freedom subject to its nonholonomic constraint. Combined with a student project, the modeling, simulation and experiments of this kind of a differentially driven mobile robot is investigated in this study. The equations of motion are derived and the motion strategy is discussed. They are further tested on an experimental mobile platform on which the modeling assumptions for the nonholonomic robot dynamics is investigated, too.
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Acknowledgments
Many thanks by the authors are due to Weiran Lin and Wei Luo for their kind help during the simulation and experiment. Moreover, the authors thank the head of the Institute of Engineering and Computational Mechanics, Professor Peter Eberhard, for providing an excellent research environment.
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Tang, Q., Schiehlen, W. (2014). From Lawnmower Dynamics to Modeling, Simulation and Experiments of a Differentially Driven Robot. In: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_41
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DOI: https://doi.org/10.1007/978-3-319-07058-2_41
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