| Popis: |
This paper proposes a simplified formulation of the kinematic model of wheeled mobile robot while negotiating threshold obstacle. Wheel angular velocity analysis has been presented to avoid wheel slip while articulated limbs are changing configuration. In order to simplify the task, a constraint to maintain level of the platform relative to the ground is assumed. Permissible velocities of robot’s actuator has been analysed. Based on the resulted limb’s motion times configuration of the robot has been obtained to accelerate the robot motion. Numerical simulation of the model of presented robot, validates wheel speed model, described in the paper. |
