Dynamic Model of a Mobile Robot for Analyzing End-effector Deviations Caused from Ground Unevenness
This paper presents a new model for a mobile robot. With the aid of past models it is impossible to analyze the dynamic response of the end effector by appearance of some disturbances such as ground unevenness. The model presented in this paper includes six degrees of freedom (6 DOF) for the robot and 6 DOF for the vehicle. A robot of type “manutec r3” with six degrees of freedom and a vehicle with two driven wheels and one supporting wheel (produced from Fa. Schindler) is used as a specimen for the investigations. A different number of DOF’s in the velocity level (5 DOF) and position level (6 DOF) exists because of nonholonomic connections between tires and ground. The mechanical substituting system of the robot is a multi-body-system with rigid bodies having its own 6 DOF.
KeywordsMobile Robot Coordinate Frame Recurrent Equation Linear Acceleration Drive Wheel
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