Multi-degree-of-freedom (MDOF) vehicles have many potential advantages over conventional (i.e., 2-DOF) vehicles. For example, MDOF vehicles can travel sideway and they can negotiate tight tums more easily. In addition, some MDOF designs provide better payload capability, better traction, and improved static and dynamic stability. However, MDOF vehicles with more than three degrees-of-freedom are difficult to control because of their overconstrained nature. These difficulties translate into severe wheel slippage or jerky motion under certain driving conditions. In the past, these problems limited the use of MDOF vehicles to applications where the vehicle would follow guide-wire, which would correct wheel slippage and control errors. By contrast, autonomous or semi-autonomous mobile robots usually rely on dead-reckoning between periodic absolute position updates and their performance is diminished by excessive wheel slippage. This paper introduces a new concept in the kinematic design of MDOF vehicles. This concept is based on the provision of a compliant linkage between drive wheels or drive axles. Simulation results indicate that compliant linkage allows to overcome the control problems found in conventional MDOF vehicles and reduces the amount of wheel slippage to the same level (or less) than the amount of slippage found on a comparable 2-DOF vehicle.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Compliant-linkage kinematic design for multi-degree-of-freedom mobile robots


    Additional title:

    Kinematische Projektierung einer starren Kopplung bei mobilen Robotern mit mehreren Freiheitsgraden


    Contributors:


    Publication date :

    1992


    Size :

    8 Seiten, 7 Bilder, 18 Quellen





    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    Kinematic modeling of wheeled mobile robots

    Muir, Patrick F. / Neuman, Charles P. | TIBKAT | 1986


    Multi-wheel-train multi-degree-of-freedom mobile chassis

    GAO CHONGJIN / PI YUNYUN / WANG HONGBO | European Patent Office | 2021

    Free access