Naslov
A Leg-wheel Robot-based Approach to the Solution of Flipper-track Robot Kinematics

Autori
Mutka, Alan ; Kovačić, Zdenko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 2011 IEEE Multi-Conference on Systems and Control : Conference on Control Applications (CCA) / Valavanis, Kimon - Denver (CO) : Omnipress, 2011, 1443-1450

ISBN
978-1-4577-1061-2

Skup
IEEE Multi-Conference on Systems and Control : Conference on Control Applications

Mjesto i datum
Denver (CO), Sjedinjene Američke Države, 28.09.2011. - 30.09.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
mobile robots; flipper-track robots; screw theory

Sažetak
This paper presents the method of solving kinematics of a flipper-track robot. A general kinematics framework based on the screw theory is introduced for the leg-wheel robots. Focusing on the contact point between a flipper and the ground surface, the flipper-track robot kinematics is presented with the equivalent hybrid leg-wheel robot kinematics. For a studied four flipper-track robot, several robot control modes and corresponding kinematics solutions are identified. The algorithm for robot posture and tracking control is presented respecting robot’s mechanical constraints. The kinematics and robot posture control were tested by simulation on a virtual robot in the MATLAB-ODE simulation environment.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

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