Kinematics Modeling and Step Climbing Study of an All-Terrain Wheeled Mobile Robot on Uneven Terrains
In this paper, a study of an all-terrain wheeled mobile robot which is a complex multi-body mechanism is presented. An effective approach for kinematics modeling of the robot traversing uneven terrain has been proposed. Denavit-Hartenberg algorithms and differential kinematics are derived for the individual wheel motions in contact with the terrain. The resulting equations of the individual wheel motions are then combined to form the composite equation for the rover motion. The motion study of the rover for step climbing is also presented. Simulation and experimental results have been employed to verify the rover mobility.
articulated wheeled mobile robots rover kinematics simulation and experiment
Min Xu Runhuai Yang Yong Cheng Hongcheng Xu
Department of Precision Machinery and Precision Instrument University of Science & Technology of China Hefei 230027, China
国际会议
哈尔滨
英文
2725-2728
2011-08-12（万方平台首次上网日期，不代表论文的发表时间）