Romansy 16 pp 221-228 | Cite as

Vehicle Dynamics of Redundant Mobile Robots with Powered Caster Wheels

  • Yuan Ping Li
  • Teresa Zielinska
  • Marcelo H. AngJr.
  • Wei Lin
Part of the CISM Courses and Lectures book series (CISM, volume 487)


The dynamic model of redundantly actuated mobile robots with powered caster wheels is derived based on vehicle dynamics. The contact stability problem of wheeled mobile robots is introduced and stable contact condition that characterizes the bounds of contact stability is derived. Sliding mode observer is proposed to estimate the robot velocity using wheel angular velocity and joint torque information. Actuation redundancy of the robot is utilized to satisfy the stable contact condition in trajectory tracking applications.


Contact Force Mobile Robot Vehicle Dynamic Slip Ratio Slide Mode Observer 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. M.G. Bekker. Theory of Land Locomotion. University of Michigan Press, 1956.Google Scholar
  2. R. Holmberg and O. Khatib. Development and control of a holonomic mobile robot for mobile manipulation tasks. Intl. J. Robotics Research, 19(11):1066–1074, 2000.CrossRefGoogle Scholar
  3. O. Khatib. A unified approach for motion and force control of robot manipulators: The operational space formulation. RA-3(1):43–53, 1987.Google Scholar
  4. Y.P. Li, D.N. Oetomo, Marcelo H. Ang Jr., and C.W. Lim. Torque distribution and slip minimization in an omnidirectional mobile base. Intl. Conf. Advanced Robotics, pages 567–572, 2005.Google Scholar
  5. Y.P. Li, T. Zielinska, Marcelo H. Ang Jr., and W. Lin. Wheel-ground interaction modelling and torque distribution for a redundant mobile robot. IEEE Intl. Conf. Robotics and Automation, 2006.Google Scholar
  6. Y. Nakamura. Advanced Robotics: Redundancy and Optimization. Addison-Wesley Publishing Company, 1991.Google Scholar
  7. H. Peng and M. Tomizuka. Vehicle lateral control for highway automation. Proc. Amer. Contr. Conf., pages 788–794, 1990.Google Scholar
  8. J.-J.E. Slotine, J.K. Hedrick, and E.A. Misawa. On sliding observers for nonlinear systems. ASME J. Dynamic Syst. Meas. Contr., 109:245–252, 1989.CrossRefGoogle Scholar
  9. J.-J.E. Slotine and W. Li. Applied Nonlinear Control Prentice Hall, 1991.Google Scholar
  10. Cem Unsal and Pushkin Kachroo. Sliding mode measurement feedback control for an-tilock braking systems. IEEE Trans. on Control Systems Technology, 7(2):271–281, 1999.CrossRefGoogle Scholar
  11. M. Wada and S. Mori. Holonomic and omnidirectional vehicle with conventional tires. Proc. IEEE Intl. Conf. Robotics and Automation, 4:3671–3676, 1996.Google Scholar
  12. J.Y. Wong. Theory of Ground Vehicles. John Wiley and Sons, Inc., 3rd edition, 2001.Google Scholar
  13. B. J. Yi and W.K. Kim. The kinematics for redundantly actuated omni-directional mobile robots. J. Robotic Systems, 12(6):255–267, 2002.CrossRefMathSciNetGoogle Scholar

Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Yuan Ping Li
    • 1
  • Teresa Zielinska
    • 2
  • Marcelo H. AngJr.
    • 1
  • Wei Lin
    • 3
  1. 1.Faculty of EngineeringNational University of SingaporeSingapore
  2. 2.Faculty of Power and Aeronautical EngineeringWarsaw University of TechnologyPoland
  3. 3.Singapore Institute of Manufacturing TechnologySingapore

Personalised recommendations