Abstract
This paper presents a novel method for online dynamic parameter identification in wheeled mobile robots with nonholonomic constraints. First, the direct dynamic model of a mobile robot is obtained and reformulated in the linear form of dynamic parameters. Then, an adaptive estimation routine is proposed in order to identify the robot dynamic parameters with high accuracy and in finite time without requiring the measurement of the acceleration state vector. Based on Solidworks/ SimMechanics, a virtual prototype with the structure of a real mobile robot system is established to implement in the simulation. The simulation results demonstrate the effectiveness of the proposed approach for identifying the mobile robot dynamic parameters.
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Abbreviations
- oxy:
-
Global coordinate system
- OXY:
-
Coordinate system fixed to the mobile platform
- Op :
-
Mass center of the WMRs without wheels and rotors
- Ow1,2 :
-
Center of mass of the left and right wheel
- Or1,2 :
-
Center of mass of the left and right rotor
- I p :
-
Moment of inertia of the mobile platform about O1
- I wm :
-
Moment of inertia of the wheel about its diameter
- I w :
-
Moment of inertia of the wheel about its rotation axle
- I m :
-
Moment of inertia of the rotor about its diameter
- I r :
-
Moment of inertia of the rotor about its rotation axle
- k r :
-
Gear reduction ratio
- m p :
-
Mass of the WMRs without wheels and rotors
- m w :
-
Mass of each wheel
- m r :
-
Mass of each rotor
- a :
-
Distance from O to Ow1,2
- b :
-
Distance from O to contact point of wheel and ground
- (d x, d y):
-
Position of Op with respect to OXY coordinate
- (c x, c y):
-
Position of Or1,2 with respect to OXY coordinate
- r :
-
Wheel radius
- θ=[θ R , θ L ]T :
-
Angular displacement vector of wheels
- η=[η 1, η 2]T :
-
Angular velocity vector of wheels
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Hoang, NB., Kang, HJ. Observer-based dynamic parameter identification for wheeled mobile robots. Int. J. Precis. Eng. Manuf. 16, 1085–1093 (2015). https://doi.org/10.1007/s12541-015-0140-z
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DOI: https://doi.org/10.1007/s12541-015-0140-z