Vehicle Dynamics of Redundant Mobile Robots with Powered Caster Wheels
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.
KeywordsContact Force Mobile Robot Vehicle Dynamic Slip Ratio Slide Mode Observer
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