Mobile Robots & Kinematics : Session 2

Nicol as Ilich Samus February 27, 2014

Exercise 1

Demonstrate the rolling and sliding constraints conditions for a standard xed wheel is:

Figure 1.1: Exercise 1 1.1 Rolling constraint VY

W

= r

From the picture we can see that: = VT VL Y VQ Y = r

VY

And: VT
Y

VL Y VQ Y Then considering:

( + )) 2 = VL sin( ( + )) 2 = L cos( ) = VT cos(

) 2 cos() = sin( ) 2 sin() = cos( We can write: VT

Y

= VT sin( + ) = VL cos( + ) L cos( ) =

VL Y VQ Y So VY
W

is: L cos( ) = VT sin( + ) VL cos( + ) VT L cos( ) VL = r

VY

sin( + )

cos( + )

1.2

Sliding constraint VX

=0

From the picture we can see: = VT + VL X + VQ X = 0

VX And: VT

VL X VQ X

( + )) 2 = VL cos( ( + )) 2 = L sin( ) = VT sin(

Applying the same trigonometric entitie we can write: VT

X

= VT cos( + ) = VL sin( + ) L sin( ) =

VL X VQ X So VX
W

is: L sin( ) = VT cos( + ) + VL sin( + ) + VT L sin( ) VL = 0

V X

cos( + )

sin( + )

Excercise 2

Demostrate that for a dierential steered mobile robot if you use the rolling and sliding constraints concepts you can derive the same formula for the robot velocities projected in the world reference frame

With this conguration the constraints are: I = J2 Rolling: J1 (s )R()1 I = 0 Sliding: C1 (s )R()1 Fusing these two equations yields the following expression: J1 (s ) I = J2 R()1 C 1 ( 2 ) 0 Substituting the constraints for the dierential steered robot we get: sin(R + R ) sin( + ) L L cos(R + R ) cos(L + L ) cos(R + R ) cos(L + L ) sin(R + R ) sin(L + L ) L cos(R ) r L cos(L ) I = R()1 L sin(R ) L sin(L ) R L 0 0

And now susbtituting with values: 1 1 0 0 I clean: Getting 3 0 0 1 1 S r S 1 R() I = 0 0 R L 0 0

1 = R() 1 0

0 0 1

S S 0

r R L 0

= R ( )

1 2 0 1 S 2

1 2

0 1 S 2

0 1 0

r R L 0

I for the dierential steered robot is: Finally r (R +L ) 2 I = R() 0 r (R L ) 2S