A Velocity-Based Dynamic Model and Its Properties for Differential Drive Mobile Robots

Autores
Martins, Felipe N.; Sarcinelli-Filho, Mário; Carelli Albarracin, Ricardo Oscar
Año de publicación
2017
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
An important issue in the field of motion control of wheeled mobile robots is that the design of most controllers is based only on the robot’s kinematics. However, when high-speed movements and/or heavy load transportation are required, it becomes essential to consider the robot dynamics as well. The control signals generated by most dynamic controllers reported in the literature are torques or voltages for the robot motors, while commercial robots usually accept velocity commands. In this context, we present a velocity-based dynamic model for differential drive mobile robots that also includes the dynamics of the robot actuators. Such model has linear and angular velocities as inputs and has been included in Peter Corke’s Robotics Toolbox for MATLAB, therefore it can be easily integrated into simulation systems that have been built for the unicycle kinematics. We demonstrate that the proposed dynamic model has useful mathematical properties. We also present an application of such model on the design of an adaptive dynamic controller and the stability analysis of the complete system, while applying the proposed model properties. Finally, we show some simulation and experimental results and discuss the advantages and limitations of the proposed model.
Fil: Martins, Felipe N.. Science and Technology of Espírito Santo; Brasil
Fil: Sarcinelli-Filho, Mário. Universidade Federal do Espírito Santo; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
Adaptive Control
Dynamic Modelling
Mobile Robot
Robot Dynamics And Control
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/63968
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/63968
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling A Velocity-Based Dynamic Model and Its Properties for Differential Drive Mobile RobotsMartins, Felipe N.Sarcinelli-Filho, MárioCarelli Albarracin, Ricardo OscarAdaptive ControlDynamic ModellingMobile RobotRobot Dynamics And Controlhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2An important issue in the field of motion control of wheeled mobile robots is that the design of most controllers is based only on the robot’s kinematics. However, when high-speed movements and/or heavy load transportation are required, it becomes essential to consider the robot dynamics as well. The control signals generated by most dynamic controllers reported in the literature are torques or voltages for the robot motors, while commercial robots usually accept velocity commands. In this context, we present a velocity-based dynamic model for differential drive mobile robots that also includes the dynamics of the robot actuators. Such model has linear and angular velocities as inputs and has been included in Peter Corke’s Robotics Toolbox for MATLAB, therefore it can be easily integrated into simulation systems that have been built for the unicycle kinematics. We demonstrate that the proposed dynamic model has useful mathematical properties. We also present an application of such model on the design of an adaptive dynamic controller and the stability analysis of the complete system, while applying the proposed model properties. Finally, we show some simulation and experimental results and discuss the advantages and limitations of the proposed model.Fil: Martins, Felipe N.. Science and Technology of Espírito Santo; BrasilFil: Sarcinelli-Filho, Mário. Universidade Federal do Espírito Santo; BrasilFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaSpringer2017-02info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/63968Martins, Felipe N.; Sarcinelli-Filho, Mário; Carelli Albarracin, Ricardo Oscar; A Velocity-Based Dynamic Model and Its Properties for Differential Drive Mobile Robots; Springer; Journal of Intelligent & Robotic Systems; 85; 2; 2-2017; 277-2920921-0296CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-016-0381-9info:eu-repo/semantics/altIdentifier/url/https://link.springer.com/article/10.1007/s10846-016-0381-9info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:50:48Zoai:ri.conicet.gov.ar:11336/63968instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 09:50:48.376CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A Velocity-Based Dynamic Model and Its Properties for Differential Drive Mobile Robots
title A Velocity-Based Dynamic Model and Its Properties for Differential Drive Mobile Robots
spellingShingle A Velocity-Based Dynamic Model and Its Properties for Differential Drive Mobile Robots
Martins, Felipe N.
Adaptive Control
Dynamic Modelling
Mobile Robot
Robot Dynamics And Control
title_short A Velocity-Based Dynamic Model and Its Properties for Differential Drive Mobile Robots
title_full A Velocity-Based Dynamic Model and Its Properties for Differential Drive Mobile Robots
title_fullStr A Velocity-Based Dynamic Model and Its Properties for Differential Drive Mobile Robots
title_full_unstemmed A Velocity-Based Dynamic Model and Its Properties for Differential Drive Mobile Robots
title_sort A Velocity-Based Dynamic Model and Its Properties for Differential Drive Mobile Robots
dc.creator.none.fl_str_mv Martins, Felipe N.
Sarcinelli-Filho, Mário
Carelli Albarracin, Ricardo Oscar
author Martins, Felipe N.
author_facet Martins, Felipe N.
Sarcinelli-Filho, Mário
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Sarcinelli-Filho, Mário
Carelli Albarracin, Ricardo Oscar
author2_role author
author
dc.subject.none.fl_str_mv Adaptive Control
Dynamic Modelling
Mobile Robot
Robot Dynamics And Control
topic Adaptive Control
Dynamic Modelling
Mobile Robot
Robot Dynamics And Control
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv An important issue in the field of motion control of wheeled mobile robots is that the design of most controllers is based only on the robot’s kinematics. However, when high-speed movements and/or heavy load transportation are required, it becomes essential to consider the robot dynamics as well. The control signals generated by most dynamic controllers reported in the literature are torques or voltages for the robot motors, while commercial robots usually accept velocity commands. In this context, we present a velocity-based dynamic model for differential drive mobile robots that also includes the dynamics of the robot actuators. Such model has linear and angular velocities as inputs and has been included in Peter Corke’s Robotics Toolbox for MATLAB, therefore it can be easily integrated into simulation systems that have been built for the unicycle kinematics. We demonstrate that the proposed dynamic model has useful mathematical properties. We also present an application of such model on the design of an adaptive dynamic controller and the stability analysis of the complete system, while applying the proposed model properties. Finally, we show some simulation and experimental results and discuss the advantages and limitations of the proposed model.
Fil: Martins, Felipe N.. Science and Technology of Espírito Santo; Brasil
Fil: Sarcinelli-Filho, Mário. Universidade Federal do Espírito Santo; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description An important issue in the field of motion control of wheeled mobile robots is that the design of most controllers is based only on the robot’s kinematics. However, when high-speed movements and/or heavy load transportation are required, it becomes essential to consider the robot dynamics as well. The control signals generated by most dynamic controllers reported in the literature are torques or voltages for the robot motors, while commercial robots usually accept velocity commands. In this context, we present a velocity-based dynamic model for differential drive mobile robots that also includes the dynamics of the robot actuators. Such model has linear and angular velocities as inputs and has been included in Peter Corke’s Robotics Toolbox for MATLAB, therefore it can be easily integrated into simulation systems that have been built for the unicycle kinematics. We demonstrate that the proposed dynamic model has useful mathematical properties. We also present an application of such model on the design of an adaptive dynamic controller and the stability analysis of the complete system, while applying the proposed model properties. Finally, we show some simulation and experimental results and discuss the advantages and limitations of the proposed model.
publishDate 2017
dc.date.none.fl_str_mv 2017-02
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/63968
Martins, Felipe N.; Sarcinelli-Filho, Mário; Carelli Albarracin, Ricardo Oscar; A Velocity-Based Dynamic Model and Its Properties for Differential Drive Mobile Robots; Springer; Journal of Intelligent & Robotic Systems; 85; 2; 2-2017; 277-292
0921-0296
CONICET Digital
CONICET
url http://hdl.handle.net/11336/63968
identifier_str_mv Martins, Felipe N.; Sarcinelli-Filho, Mário; Carelli Albarracin, Ricardo Oscar; A Velocity-Based Dynamic Model and Its Properties for Differential Drive Mobile Robots; Springer; Journal of Intelligent & Robotic Systems; 85; 2; 2-2017; 277-292
0921-0296
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-016-0381-9
info:eu-repo/semantics/altIdentifier/url/https://link.springer.com/article/10.1007/s10846-016-0381-9
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.070432

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