Singularity-free solutions for inverse kinematics of degenerate mobile robots
| Autor: | Michael LiBretto, Euisun Kim, Jun Ueda, Yingxin Qiu, Kevin Pluckter, Nam Su Yuk |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Physics
0209 industrial biotechnology Inverse kinematics Mechanical Engineering Degenerate energy levels Mathematical analysis ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Inverse Bioengineering Mobile robot 02 engineering and technology Computer Science Applications Computer Science::Robotics 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Mechanics of Materials Robot Gravitational singularity Rotation (mathematics) Instant centre of rotation ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | Mechanism and Machine Theory. 153:103988 |
| ISSN: | 0094-114X |
| DOI: | 10.1016/j.mechmachtheory.2020.103988 |
| Popis: | This paper describes a method for inverse kinematics that is tolerant to degenerate wheels structures, specifically to control the motion of the transformable, pseudo-omnidirectional mobile platform. This platform can expand its lateral footprint while maintaining the robot’s planar mobility. The proposed method creates an inverse kinematical solution where there previously was none due to modeling singularities from the use of degenerate wheel structures. The idea of degenerate wheel structures is introduced and a robot using only these wheels is described. The first order dynamics of the robot are derived and an analytical inverse kinematical solution to the steering angle and rate of wheel rotation for each wheel is given using closed form solutions. The bifurcating solutions are addressed and as long as the chosen solutions are consistent between the steering angle and the wheel rotation speed, there is no impact on the effectiveness of either pair of solutions. This solution proved to be accurate through simulation of both omnidirectional motion and instantaneous center of rotation-based motion. Consistent results were achieved in experiments. |
| Databáze: | OpenAIRE |
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