Managing the Redundancy of Actuation of a Mobile Robot


(*) Corresponding author


Authors' affiliations


DOI's assignment:
the author of the article can submit here a request for assignment of a DOI number to this resource!
Cost of the service: euros 10,00 (for a DOI)

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.
Copyright © 2013 Praise Worthy Prize - All rights reserved.

Keywords


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

Full Text:

PDF


References


Julien Aragones Geovany A. Borges and Alain Fournier, Accuracy improvement for a redundant vehicle, proceedings of the IEEE International Symposium on Robotics, Stockholm, Sweeden, october 2002.

A. Murao, C. Chevallereau, Trajectoires optimales pour l’amble d’un quadrupède pour des critères énergétiques, Actes de IEEE Conférence Internationale Francophone d’Automatique, (CIFA), Nantes, France, juillet 2002, pp 528-533.

P. Dauchez, P. Coiffet and A. Fournier, Cooperation of tow robots in assembly tasks, Computing techniques for robots, Kogan Page, 1985, pp 197-218.

G. Campion, R. Hossa, Adaptive ouput linearizing control of wheeled mobile robot, proceedings of IFAC symposium on robot control, Nantes, France, September 1997, pp 261-266.

S.H. Lee, B.-J. Yi, S.H. Kim and Y.K. Kwak, Control of impact disturbance by redundantly actuated mechamism, proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, may 2001, pp 3734-3741.

Byung-ju Yi and WheeKuk Kim, The kinematics for redundantly actuated omni-directional mobile robots, Proceedings Of The IEEE International Conférence On Robotics And Automation (ICRA), San Francisco, CA, april 2000, pp 2485-2492.

B. Bayle, J.-Y.Fourquet and M. Renaud, Manipulability analysis for mobile manipulators, Proceedings Of The IEEE International Conference On Robotics And Automation, (ICRA), Seoul, Korea, May 2001, pp 1251-1256.

W. Khalil et E. Dombre, Modélisation identification et commande des robots, 2ièmeédition revue et augmentée, collection robotique, Hermes1999.

Vijay Kumar and John, F. Gardner, Kinematics of redundantly actuated closed chains, IEEE Transactions on Robotics and Automation, Vol.6, No 2, April 1990, pp 269-274.

Leonimer Flávio de Melo, Silas Franco dos Reis Alves, João Maurício Rosário, Mobile Robot Navigation Modelling, Control and Applications, (2012) International Review on Modelling and Simulations (IREMOS), 5 (2), pp. 1059-1068.

E. Szádeczky-Kardoss, B. Kiss, Motion Planning in Dynamic Environments with the Rapidly Exploring Random Tree Method, (2008) International Review of Automatic Control (IREACO), 1 (1), pp. 109-117.

Samer Yahya, M. Moghavvemi, Haider A. F. Mohamed, A Review of Singularity Avoidance in the Inverse Kinematics of Redundant Robot Manipulators, (2011) International Review of Automatic Control (IREACO), 4 (5), pp. 807-814.


Refbacks

  • There are currently no refbacks.


Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2024 Praise Worthy Prize