Dynamic Parameter Identification of a Novel Motion-Mode-Changing Quasi-Omnidirectional Mobile Platform

作者: Hubert Gattringer , Andreas Müller , Florian Pucher

DOI: 10.1016/J.IFACOL.2020.12.1435

关键词:

摘要: Abstract In process automation of logistic systems autonomous mobile platforms play an important role with high demands on flexibility and maneuverability. Limited space can be a restriction for non-omnidirectional vehicles. this paper quasi-omnidirectional platform is considered which switch between four different motion-modes: wheel alignment in standstill, car-like steered longitudinal motion, lateral motion pure rotation. With the requirement carrying heavy payloads, feed-forward control becomes part concept. This presents approach parameter identification motion-mode-changing system. The equations are formulated using redundantly parameterized model, linear inertia friction parameters. For each motion-mode kinematic model used elimination constraint forces. Not all parameters identified every configuration. main idea to use combination simple vehicle movements process. dynamic then validated more complex movement where needed configuration has not been identification. Experimental results prototype shown.

参考文章(8)
Matthias Neubauer, Hubert Gattringer, Hartmut Bremer, A persistent method for parameter identification of a seven-axes manipulator Robotica. ,vol. 33, pp. 1099- 1112 ,(2015) , 10.1017/S0263574714001465
M. Gautier, W. Khalil, On the identification of the inertial parameters of robots conference on decision and control. pp. 2264- 2269 ,(1988) , 10.1109/CDC.1988.194738
M. Tounsi, G. Lebret, M. Gautier, Dynamic control of a nonholonomic mobile robot in Cartesian space conference on decision and control. ,vol. 4, pp. 3825- 3830 ,(1995) , 10.1109/CDC.1995.479194
A.S. Conceicao, A.P. Moreira, P.J. Costa, Practical Approach of Modeling and Parameters Estimation for Omnidirectional Mobile Robots IEEE-ASME Transactions on Mechatronics. ,vol. 14, pp. 377- 381 ,(2009) , 10.1109/TMECH.2009.2013615
M. Gautier, Numerical calculation of the base inertial parameters of robots Journal of Robotic Systems. ,vol. 8, pp. 485- 506 ,(1991) , 10.1002/ROB.4620080405
Martin Grotjahn, Bodo Heimann, Determination of Dynamic Parameters of Robots by Base Sensor Measurements IFAC Proceedings Volumes. ,vol. 33, pp. 279- 284 ,(2000) , 10.1016/S1474-6670(17)37942-9
Christoph Stöger, Hubert Gattringer, Andreas Müller, Parameter Identification of Non-Holonomic Omnidirectional Vehicles using a Redundantly Parameterized Model Pamm. ,vol. 17, pp. 171- 172 ,(2017) , 10.1002/PAMM.201710055
Florian Pucher, Hubert Gattringer, Christoph Stöger, Andreas Müller, Ulrich Single, Modeling and Analysis of a Novel Passively Steered 4WD Mobile Platform Concept International Conference on Robotics in Alpe-Adria Danube Region. pp. 264- 271 ,(2018) , 10.1007/978-3-030-00232-9_27