Advance Modeling of a Skid-Steering Mobile Robot for Remote ...

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3.3 Characterization of the Tire Forces 54(a)(b)Figure 3.10: Tire vertical force by dragging a single wheel upon a piece of wood: (a) Right side, no ability tomove perpendicularly to the drag surface; (b) Left side, ability to move perpendicularly to the drag surface.
Chapter 4Modeling of the Tire Reaction ForcesIn Section 3.3, different measurements of the tire lateral force were presented to fullyunderstanding the dynamic causes of the robot jerky motion. To explain the saw-tooth behaviorrecorded by the force sensor, the tire spring-damper model for the static lateral forcewas introduced, without entering in details. The elasticity coefficients K tirey , K tirez was alsoidentified for both the lateral and vertical motion.In this section, we first provide a complete description of the tire spring-damper model forthe tire lateral force. Then, a model for the three tire reaction forces along the three principalaxes is defined to complete the SSMR dynamic model presented in Section 2.2.4.1 Tire Lateral ForceLet us consider a spring-mass-damper system attached to a local frame (y, z) moving withrespect to a fixed frame (Y, Z), as depicted in Figure 4.1.Let m t , K y , D y be respectively the mass and the elasticity and damping coefficient of thespring, and µ sy , µ ky respectively the static and kinetic friction coefficient at the contact pointbetween the mass and the floor. Let us consider the local frame start moving at a velocityv iy (t) with respect to the fixed frame, expressed in the local frame. Supposing that the originof the local frame is fixed to the zero position of the spring and its y-axis is parallel to thespring extension/compression direction, if the mass is not moving the spring displacementwith respect to the local frame is defined as:
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Università degli Studi di GenovaRo
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IINothing great in the World has be
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CONTENTSIV6 Simulation 786.1 Simuli
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LIST OF FIGURESVII6.4 (a) Block sch
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List of Tables5.1 Table of the geom
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Introduction 2boDynamics, VGo Commu
Page 14 and 15: Introduction 4The robot employed, i
Page 16 and 17: Chapter 1Hardware and SoftwareIn th
Page 18 and 19: 1.1 The Pioneer 3-AT Robot 8four ho
Page 20 and 21: 1.2 The sensors 10control resolutio
Page 22 and 23: 2.1 State of the Art 12not negligib
Page 24 and 25: 2.1 State of the Art 14velocity vec
Page 26 and 27: 2.1 State of the Art 16Figure 2.3:
Page 28 and 29: 2.1 State of the Art 18Finally, by
Page 30 and 31: 2.1 State of the Art 20constraint (
Page 32 and 33: 2.1 State of the Art 22approximates
Page 34 and 35: 2.2 Generalized Modeling 24⎡1 0¯
Page 36 and 37: 2.2 Generalized Modeling 26V = [v T
Page 38 and 39: 2.2 Generalized Modeling 28where T(
Page 40 and 41: 2.2 Generalized Modeling 30⎡g R(J
Page 42 and 43: 2.2 Generalized Modeling 32where we
Page 44 and 45: Chapter 3Experimental DataIn this c
Page 46 and 47: 3.1 The accelerometer 36(a)(b)Figur
Page 48 and 49: 3.2 Characterization of the Vibrati
Page 54 and 55: 3.3 Characterization of the Tire Fo
Page 66 and 67: 4.1 Tire Lateral Force 56Figure 4.1
Page 68 and 69: 4.1 Tire Lateral Force 58velocity b
Page 70 and 71: 4.1 Tire Lateral Force 600 ≤ µ i
Page 72 and 73: 4.3 Tire Vertical Force 62f ix (t)
Page 74 and 75: Chapter 5Identification of the Robo
Page 76 and 77: 5.1 Identification of the Geometric
Page 78 and 79: 5.2 Identification of the Tire Dyna
Page 88 and 89: Chapter 6SimulationIn this chapter,
Page 90 and 91: 6.1 Simulink Model 80On the right h
Page 92 and 93: 6.1 Simulink Model 82Figure 6.3: Bl
Page 94 and 95: 6.1 Simulink Model 84(a)(b)Figure 6
Page 96 and 97: 6.1 Simulink Model 86that v icx can
Page 98 and 99: 6.2 Simulation Results 88(a)(b)Figu
Page 100 and 101: 6.2 Simulation Results 90enough to
Page 102 and 103: 6.2 Simulation Results 92hand side
Page 104 and 105: 6.2 Simulation Results 94(a)(b)Figu
Page 106 and 107: 6.2 Simulation Results 96• For λ
Page 108 and 109: AppendixesAppendix A1 %% Main progr
Page 110 and 111: Appendixes 10080 title([conf,’; A
Page 112 and 113: Appendixes 10224 Hd = design(h,filt
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Appendixes 1043031 % Filter the dat
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Appendixes 106(a)(b)(c)Figure 6.10:
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Appendixes 120(a)(b)Figure 6.24: Pe
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Bibliography[1] G. Oriolo, A. De Lu
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