Overcoming Kinematic Singularities for Motion Control in a Caster Wheeled Omnidirectional Robot
Omnidirectional planar robots are common these days due to their high mobility, for example in human–robot interactions. The motion of such mechanisms is based on specially designed wheels, which may vary when different terrains are considered. The usage of actuated caster wheels (ACW) may enable th...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/10/4/133 |
| _version_ | 1797500889632604160 |
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| author | Oded Medina Shlomi Hacohen |
| author_facet | Oded Medina Shlomi Hacohen |
| author_sort | Oded Medina |
| collection | DOAJ |
| description | Omnidirectional planar robots are common these days due to their high mobility, for example in human–robot interactions. The motion of such mechanisms is based on specially designed wheels, which may vary when different terrains are considered. The usage of actuated caster wheels (ACW) may enable the usage of regular wheels. Yet, it is known that an ACW robot with three actuated wheels needs to overcome kinematic singularities. This paper introduces the kinematic model for an ACW omni robot. We present a novel method to overcome the kinematic singularities of the mechanism’s Jacobian matrix by performing the time propagation in the mechanism’s configuration space. We show how the implementation of this method enables the estimation of caster wheels’ swivel angles by tracking the plate’s velocity. We present the mechanism’s kinematics and trajectory tracking in real-world experimentation using a novel robot design. |
| first_indexed | 2024-03-10T03:10:22Z |
| format | Article |
| id | doaj.art-1ffaba066e0442139c6a027ca7c01288 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T03:10:22Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-1ffaba066e0442139c6a027ca7c012882023-11-23T10:26:59ZengMDPI AGRobotics2218-65812021-12-0110413310.3390/robotics10040133Overcoming Kinematic Singularities for Motion Control in a Caster Wheeled Omnidirectional RobotOded Medina0Shlomi Hacohen1Department of Mechanical Engineering, Ariel University, Ramat HaGolan St. 65, Ariel 4070000, IsraelDepartment of Mechanical Engineering, Ariel University, Ramat HaGolan St. 65, Ariel 4070000, IsraelOmnidirectional planar robots are common these days due to their high mobility, for example in human–robot interactions. The motion of such mechanisms is based on specially designed wheels, which may vary when different terrains are considered. The usage of actuated caster wheels (ACW) may enable the usage of regular wheels. Yet, it is known that an ACW robot with three actuated wheels needs to overcome kinematic singularities. This paper introduces the kinematic model for an ACW omni robot. We present a novel method to overcome the kinematic singularities of the mechanism’s Jacobian matrix by performing the time propagation in the mechanism’s configuration space. We show how the implementation of this method enables the estimation of caster wheels’ swivel angles by tracking the plate’s velocity. We present the mechanism’s kinematics and trajectory tracking in real-world experimentation using a novel robot design.https://www.mdpi.com/2218-6581/10/4/133kinematic singularitycaster-wheelmotion controlmotion planningomnidirectional robot |
| spellingShingle | Oded Medina Shlomi Hacohen Overcoming Kinematic Singularities for Motion Control in a Caster Wheeled Omnidirectional Robot Robotics kinematic singularity caster-wheel motion control motion planning omnidirectional robot |
| title | Overcoming Kinematic Singularities for Motion Control in a Caster Wheeled Omnidirectional Robot |
| title_full | Overcoming Kinematic Singularities for Motion Control in a Caster Wheeled Omnidirectional Robot |
| title_fullStr | Overcoming Kinematic Singularities for Motion Control in a Caster Wheeled Omnidirectional Robot |
| title_full_unstemmed | Overcoming Kinematic Singularities for Motion Control in a Caster Wheeled Omnidirectional Robot |
| title_short | Overcoming Kinematic Singularities for Motion Control in a Caster Wheeled Omnidirectional Robot |
| title_sort | overcoming kinematic singularities for motion control in a caster wheeled omnidirectional robot |
| topic | kinematic singularity caster-wheel motion control motion planning omnidirectional robot |
| url | https://www.mdpi.com/2218-6581/10/4/133 |
| work_keys_str_mv | AT odedmedina overcomingkinematicsingularitiesformotioncontrolinacasterwheeledomnidirectionalrobot AT shlomihacohen overcomingkinematicsingularitiesformotioncontrolinacasterwheeledomnidirectionalrobot |