Mechatronics 1 Week 11. Learning Outcomes By the end of week 11 session, students will understand some sorts of mobile robot and locomotion of wheeled.

Slides:



Advertisements
Similar presentations
Mobile Robot Locomotion
Advertisements

Particle vs. Rigid-Body Mechanics
1 C02,C03 – ,27,29 Advanced Robotics for Autonomous Manipulation Department of Mechanical EngineeringME 696 – Advanced Topics in Mechanical Engineering.
Non-holonomic Constraints and Lie brackets. Definition: A non-holonomic constraint is a limitation on the allowable velocities of an object So what does.
INTRODUCTION TO DYNAMICS ANALYSIS OF ROBOTS (Part 6)
Kinematics Model of Nonholonomic Wheeled Mobile Robots for Mobile Manipulation Tasks Dimitar Chakarov Institute of Mechanics- BAS, 1113 Sofia, “Acad.G.Bonchev”
The City College of New York 1 Prepared by Dr. Salah Talha Mobot: Mobile Robot Introduction to ROBOTICS.
Introduction to Robotics
Probabilistic Robotics
Trajectory Week 8. Learning Outcomes By the end of week 8 session, students will trajectory of industrial robots.
Mechatronics 1 Week 2. Learning Outcomes By the end of this session, students will understand constituents of robotics, robot anatomy and what contributes.
Introduction to ROBOTICS
Forward Kinematics.
Mobile Robotics: 10. Kinematics 1
Mobile Robotics: 11. Kinematics 2
INTRODUCTION TO DYNAMICS ANALYSIS OF ROBOTS (Part 5)
Definition of an Industrial Robot
February 21, 2000Robotics 1 Copyright Martin P. Aalund, Ph.D. Computational Considerations.
Effectors and Actuators Key points: Mechanisms for acting on the world ‘Degrees of freedom’ Methods of locomotion: wheels, legs and beyond Methods of manipulation:
Motion Control (wheeled robots)
1 CMPUT 412 Motion Control – Wheeled robots Csaba Szepesvári University of Alberta TexPoint fonts used in EMF. Read the TexPoint manual before you delete.
Bearing and Degrees Of Freedom (DOF). If a farmer goes to milk her cows in the morning carrying a stool under one hand and a pail under another the other.
Class material vs. Lab material – Lab 2, 3 vs. 4,5, 6 BeagleBoard / TI / Digilent GoPro.
9/14/2015CS225B Kurt Konolige Locomotion of Wheeled Robots 3 wheels are sufficient and guarantee stability Differential drive (TurtleBot) Car drive (Ackerman.
CONSTRAINTS. TOPICS TO BE DISCUSSED  DEFINITION OF CONSTRAINTS  EXAMPLES OF CONSTRAINTS  TYPES OF CONSTRAINTS WITH EXAMPLES.
MAE505: Robotics Final Project – Papers Review. Presented By: Tao Gan Advisor: Dr. Venkat Krovi. Main Topic: Nonholonomic-Wheel Mobile Robot (WMR). Sub-Topics:
Wheeled Robots ~ 1.5 cm to a side temperature sensor & two motors travels 1 inch in 3 seconds untethered !!
Introduction to ROBOTICS
Beyond trial and error…. Establish mathematically how robot should move Kinematics: how robot will move given motor inputs Inverse-kinematics: how to.
Lecture 22 Dimitar Stefanov.
5.Kinematics of Particles
1 Fundamentals of Robotics Linking perception to action 2. Motion of Rigid Bodies 南台科技大學電機工程系謝銘原.
Mobile Robot Bases. Types of Mobile Robot Bases Ackerman Drive – typical car steering – non-holonomic.
Rotational Motion Comparison of Angular Motion with One-dimensional Horizontal Motion Distance traveled is replaced by the angle traveled around the circle.
Sect. 1.3: Constraints Discussion up to now  All mechanics is reduced to solving a set of simultaneous, coupled, 2 nd order differential eqtns which.
yG7s#t=15 yG7s#t=15.
Rotational Kinematics Road Map of Chapter 8 Master Analogy chart Rotational Kinematics –Definition of radian, relation to degrees –Angular displacement.
Lecture 23 Dimitar Stefanov. Wheelchair kinematics Recapping Rolling wheels Instantaneous Centre of Curvature (ICC) motion must be consistent Nonholonomic.
 When an extended object, like a wheel, rotates about its axis, the motion cannot be analyzed by treating the object as a particle because at any given.
Kinematics. The function of a robot is to manipulate objects in its workspace. To manipulate objects means to cause them to move in a desired way (as.
Chapter 3 Differential Motions and Velocities
City College of New York 1 John (Jizhong) Xiao Department of Electrical Engineering City College of New York Mobile Robot Control G3300:
INTRODUCTION TO DYNAMICS ANALYSIS OF ROBOTS (Part 4)
Robotics Sharif In the name of Allah Robotics Sharif Introduction to Robotics o Leila Sharif o o Lecture #4: The.
Kinematics using slides from D. Lu. Goals of this class Introduce Forward Kinematics of mobile robots How Inverse Kinematics for static and mobile robots.
INTRODUCTION TO DYNAMICS ANALYSIS OF ROBOTS (Part 1)
KINEMATICS OF PARTICLES RELATIVE MOTION WITH RESPECT TO TRANSLATING AXES.
Basilio Bona DAUIN – Politecnico di Torino
James Irwin Amirkhosro Vosughi Mon 1-5pm
Gaits Cost of Transportation Wheeled Mobile Robots Most popular locomotion mechanism Highly efficient Simple mechanical implementation Balancing is.
Chapter 6 Plane Kinematics of Rigid Bodies
TATVA INSTITUTE OF TECHNOLOGICAL STUDIES, MODASA (GTU)
VEX Drive Trains.
MAE505: Robotics Final Project – Papers Review.
MiniSkybot: Kinematics
Robot Intelligence Kevin Warwick.
Locomotion of Wheeled Robots
Kinematics of Wheeled Robots
Kinematics of Wheeled Robots
Robots with four wheels
CSE4421/5324: Introduction to Robotics
Mobile Robot Kinematics
Chapter 9: Rotational Motion
Motion Models (cont) 2/16/2019.
Outline: 5.1 INTRODUCTION
Kinematics of Mobile Robots
Outline: 5.1 INTRODUCTION
Kinematics of Wheeled Robots
Velocity Motion Model (cont)
Velocity Motion Model (cont)
Presentation transcript:

Mechatronics 1 Week 11

Learning Outcomes By the end of week 11 session, students will understand some sorts of mobile robot and locomotion of wheeled robots.

Course Outline Legged robot. Wheeled robot. Holonomic & Nonholonomic robots. Locomotion.

Mobile Robots Legged Robot, it uses legs to travel from 1 location to another. Wheeled Robot, it uses wheels to travel from 1 location to another.

Wheeled Robot Holonomic : When the wheels rotate in the forward direction and then backward to its previous angular position, the robot will arrive in the same location. Non Holonomic : When the wheels rotate in the forward direction and then backward to its previous angular position, the robot will not necessarily arrive in the same location.

Holonomic System (1) Roll motion can be achieved by rotating a wheel about its axis. If a lateral slip (a slip in the wheel axis direction) exists, the actual motion is the resultant produced by the roll motion and the lateral slip direction.

Holonomic System (2) For a robot with several wheels, a motion can only possible if all wheel axes intersect in a single point, i.e. Instantaneous Centre of Curvature (ICC). Each wheel’s velocity must be consistent with the requirement to maintain a rigid rotation about the ICC.

Differential Drive (1) A Differential drive system has 2 wheels rotating about a common axis, in which each wheel has its own motor to drive the wheel independently. A pose of robot is determined by the position of the robot (x,y) and its orientation (Φ ). The independent drive allows a robot to move along a specified trajectory. A robot with differential drive system needs a supporting wheel(s), e.g. a castor wheel.

Differential Drive (2) The linear velocity of each wheel is given by The angular motion of each wheel is determined by the rate of change of its angular position (i.e. θ L and θ R ). Forward Kinematics Backward Kinematics

Differential Drive (3) Notes : –v l, v r, ω, and R are functions of time. –Special cases of v l = v r, v l = -v r. –If l = 0  not a differential drive system.

Differential Drive (4) Robot Forward Kinematics : The angular rate difference between both wheels determines position & orientation of robot. Inverse Kinematics : The position and orientation of a robot determines the angular rate difference between both wheels.

Non Holonomic Robot Drive Wheels Castor Wheel