Managing the Redundancy of Actuation of a Mobile Robot

Mkhinini Maher(1*), Hadda Imed(2), Knani Jilani(3)

(1) National School of Engineers in Tunis, Tunisia
(2) National School of Engineers in Tunis, Tunisia
(3) National School of Engineers in Tunis, Tunisia
(*) Corresponding author


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Abstract


We present in this work the performances of a mobile omnidirectional robot through evaluating its management of the redundancy of actuation. The distribution of the wringer on the robot actions, through the inverse pseudo of Moore-Penrose, corresponds to a « geometric ›› distribution of efforts. We will show that the load on vehicle wheels would not be equi-distributed in terms of wheels configuration and of robot movement. Thus, the threshold of sliding is not the same for the three wheels of the vehicle. We suggest exploiting the redundancy of actuation to reduce the risk of wheels sliding and to ameliorate, thereby, its accuracy of displacement. This kind of approach was the subject of study for the legged robots.
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Keywords


Mobile Robot; Actuation; Redundancy; Omnidirectional; Inverse Pseudo; Moore-Penrose

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References


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