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Wheel-Ground Interaction Modelling and Torque Distribution for a Redundant Mobile Robot
 

Summary: Wheel-Ground Interaction Modelling and Torque
Distribution for a Redundant Mobile Robot
Yuan Ping Li, Teresa Zielinska, Marcelo H. Ang Jr. and Wei Lin
Department of Mechanical Engineering
National University of Singapore, Singapore
Email: {liyuanping,mpeangh}@nus.edu.sg
Faculty of Power and Aeronautical Engineering
Warsaw University of Technology, Poland
Email: teresaz@meil.pw.edu.pl
Singapore Institute of Manufacturing Technology, Singapore
Email: wlin@SIMTech.a-star.edu.sg
Abstract-- An operational space dynamic model of a redun-
dantly actuated wheeled mobile robot taking into account the
wheel-ground interaction is derived based on vehicle dynamics.
The conditions for the robot to avoid slip are derived for both
torque and motion. Two torque distribution schemes based on
different criteria are proposed. The non-slip condition for motion
is utilized to plan slip avoidance paths. The null space joint
torques are utilized to fulfill the non-slip condition for torque
and avoid actuator torque limits violation. Simulations results are

  

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

 

Collections: Engineering