Modular Dynamic Simulation of Wheeled Mobile Robots

Autor:	Neal Seegmiller, Alonzo Kelly
Rok vydání:	2015
Předmět:	Dynamic simulation Self-reconfiguring modular robot Nonlinear system Computer science business.industry Control engineering Mobile robot Modular design business Differential algebraic equation Euclidean vector Contact force
Zdroj:	Springer Tracts in Advanced Robotics ISBN: 9783319074870 FSR
DOI:	10.1007/978-3-319-07488-7_6
Popis:	This paper presents a modular method for 3D dynamic simulation of wheeled mobile robots (WMRs). Our method extends efficient dynamics algorithms based on spatial vector algebra to accommodate any articulated WMR configuration. In contrast to some alternatives, our method also supports complex, nonlinear wheel-ground contact models. Instead of directly adding contact forces, we solve for them in a novel differential algebraic equation (DAE) formulation. To make this possible we resolve issues of nonlinearity and overconstraint. We demonstrate our method’s flexibility and speed through simulations of two state-of-the-art WMR platforms and wheel-ground contact models. Simulation accuracy is verified in a physical experiment.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::f221d31b058decb03d8a50059a56cfc2 https://doi.org/10.1007/978-3-319-07488-7_6 Zobrazit plný text záznamu