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Journal of Mechanical Science and Technology

, Volume 31, Issue 2, pp 893–901 | Cite as

Crawler robot kinematics modeling by using a two-wheeled approach

  • Konrad Majkut
  • Mariusz Giergiel
  • Piotr KohutEmail author
Article

Abstract

The aim of this paper is to analyze the kinematics of a small crawler robot. A mathematical model of kinematics based on a two-wheeled approach is proposed. This model is experimentally verified using vision-based motion measurements of a crawler vehicle equipped with encoders and a remote control system. It is assumed that the vehicle moves along a few curves with different angular speeds of its wheels. Based on the model of motion and the values of these speeds, numerical simulations are investigated. The results obtained from numerical and experimental validation are presented and discussed. The comparison delivered some important conclusions.

Keywords

Crawler robot kinematics Model verification Vision-based measurements Two-wheeled model 

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Copyright information

© The Korean Society of Mechanical Engineers and Springer-Verlag Berlin Heidelberg 2017

Authors and Affiliations

  1. 1.Department of Robotics and MechatronicsAGH University of Science and TechnologyCracowPoland

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