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Vehicle Dynamics of Redundant Mobile Robots with Powered Caster Wheels

Summary: Vehicle Dynamics of Redundant Mobile Robots with
Powered Caster Wheels
Yuan Ping Li*
and Teresa Zielinska
and Marcelo H. Ang Jr.* and Wei Lin
National University of Singapore, Faculty of Engineering, Singapore,
e-mail: {liyuanping,mpeangh}@nus.edu.sg

Warsaw University of Technology, Faculty of Power and Aeronautical Engineering, Poland,
e-mail: teresaz@meil.pw.edu.pl

Singapore Institute of Manufacturing Technology, Singapore,
e-mail: wlin@SIMTech.a-star.edu.sg
Abstract. The dynamic model of redundantly actuated mobile robots with pow-
ered caster wheels is derived based on vehicle dynamics. The contact stability
problem of wheeled mobile robots is introduced and stable contact condition that
characterizes the bounds of contact stability is derived. Sliding mode observer
is proposed to estimate the robot velocity using wheel angular velocity and joint
torque information. Actuation redundancy of the robot is utilized to satisfy the


Source: Ang Jr.,, Marcelo H. - Department of Mechanical Engineering, National University of Singapore


Collections: Engineering