机器人学基础Mobile Robots-Chap03.pdfVIP

CHAPTER 3 Mobile Robot Kinematics 3.2 Kinematic Models and Constraints 3.2.1 Representing robot position Global reference frame: {X , Y } I I Robots local reference frame: {X , Y } R R The pose of a robot in {I}: Mapping of velocity between {I} and {R}:   ξ R θξ R ( ) I 3.2.2 Forward kinematic models Differential drive robot, fig., Two wheels, diameter r. P centered between the two drive wheels, each wheel a distance l from P. Spinning speed of each wheel Forward kinematic model: 2 1 Calculation: If one wheel spins, the other stationary, the speed of P: Likewise, Together:  1  1  xR rϕ =+ rϕ 1 2 2 2  Neither wheel can contribute to sideways motion, so y R 0 If wheel 1 spin alone, the robot pivots around wheel 2 counterclockwise Likewise, 2 Clockwise.   rϕ rϕ 1 1 2  Together: θ =+ 2l 2l 3.2.3 Wheel kinematic constraints Assumptions: 1 the plane of the wheel always remains vertical and there is in all cases one single point of contact between the wheel and the ground plane. 2 there is no sliding at this single point of contact Fixed standard wheel Rolling constraint: (3.12) Sliding constraint: