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

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LIST OF FIGURESVI3.5 Static and kinetic lateral force by pulling the robot’s platform sidewards witha rope at v y = 1 mm s, with four wheels touching on: (a) Concrete; (b) Carpet. 463.6 Static lateral force by pulling the robot’s platform sidewards with a rope atv y = 1 mm s, sliding on concrete on: (a) Two wheels; (b) One wheel. . . . . . 483.7 Static lateral force by pulling the robot sidewards with a steel cable at v y =1 mm s, sliding on concrete using: (a) only the platform; (b) the entire robot. . 503.8 (a) Tire lateral force measurement by dragging a single wheel upon a pieceof wood; (b) Tire vertical force measurement by dragging a single wheelupon a piece of wood. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513.9 Static lateral force by dragging a single wheel upon a piece of wood: (a)without the ability to move perpendicularly to the drag surface; (b) with theability to move perpendicularly to the drag surface. . . . . . . . . . . . . . 523.10 Tire vertical force by dragging a single wheel upon a piece of wood: (a)Right side, no ability to move perpendicularly to the drag surface; (b) Leftside, ability to move perpendicularly to the drag surface. . . . . . . . . . . 544.1 A scheme of a spring-mass-damper system with friction between the massand the ground. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564.2 A scheme of a spring-mass-damper system moving along the vertical direction. 635.1 (a) Measuring the CoM position on x-y plane; (b) Measuring the CoM height. 655.2 The Solidworks model of the robot. . . . . . . . . . . . . . . . . . . . . . 675.3 Scheme of: (a) Roll; (b) Pitch; (c) Yaw. . . . . . . . . . . . . . . . . . . . 695.4 Example of acquired data for Roll motion: (a) Lowpass-filtered data andtheir envelop; (b) FFT of real data. . . . . . . . . . . . . . . . . . . . . . . 725.5 Example of acquired data for Pitch motion: (a) Lowpass-filtered data andtheir envelop; (b) FFT of real data. . . . . . . . . . . . . . . . . . . . . . . 735.6 Example of acquired data for Yaw motion: (a) Lowpass-filtered data andtheir envelop; (b) FFT of real data. . . . . . . . . . . . . . . . . . . . . . . 746.1 Block scheme of the Simulink model. . . . . . . . . . . . . . . . . . . . . 796.2 (a) Block scheme inside the ¨3D Rigid-Body Dynamics¨ block; (b) Blockscheme inside the ¨Cable Force¨ block. . . . . . . . . . . . . . . . . . . . 816.3 Block scheme inside the ¨Wheel¨ block. . . . . . . . . . . . . . . . . . . . 82
Page 1 and 2: Università degli Studi di GenovaRo
Page 3 and 4: IINothing great in the World has be
Page 5: CONTENTSIV6 Simulation 786.1 Simuli
Page 9 and 10: LIST OF FIGURESVIII6.21 Amplitude o
Page 11 and 12: IntroductionThe term telepresence w
Page 13 and 14: Introduction 3both the user and the
Page 15 and 16: Introduction 5interaction at the ki
Page 17 and 18: 1.1 The Pioneer 3-AT Robot 7tween i
Page 19 and 20: 1.2 The sensors 91.2 The sensorsFor
Page 21 and 22: Chapter 2Modeling of Skid-Steering
Page 23 and 24: 2.1 State of the Art 13and V = [v x
Page 25 and 26: 2.1 State of the Art 15where v L ,
Page 27 and 28: 2.1 State of the Art 17these expres
Page 29 and 30: 2.1 State of the Art 19the model by
Page 31 and 32: 2.1 State of the Art 21P i = F i ta
Page 33 and 34: 2.1 State of the Art 23(a)(b)Figure
Page 35 and 36: 2.2 Generalized Modeling 25quence o
Page 37 and 38: 2.2 Generalized Modeling 27By combi
Page 39 and 40: 2.2 Generalized Modeling 29⎤00⎡
Page 41 and 42: 2.2 Generalized Modeling 31⎡v ix
Page 43 and 44: 2.2 Generalized Modeling 33where we
Page 45 and 46: 3.1 The accelerometer 35where m a ,
Page 47 and 48: 3.2 Characterization of the Vibrati
Page 53 and 54: 3.3 Characterization of the Tire Fo
Page 55 and 56: 3.3 Characterization of the Tire Fo
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3.3 Characterization of the Tire Fo
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Chapter 4Modeling of the Tire React
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4.1 Tire Lateral Force 57µ ky NV i
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4.1 Tire Lateral Force 59ular tire
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4.2 Tire Longitudinal Force 61tan
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4.3 Tire Vertical Force 63damper sy
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5.1 Identification of the Geometric
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5.2 Identification of the Tire Dyna
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= −p ax A z ω 2 n ze −ξ zω n
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6.1 Simulink Model 796.1 Simulink M
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6.1 Simulink Model 81(a)(b)Figure 6
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6.1 Simulink Model 83desired torque
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6.1 Simulink Model 85as explained i
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6.2 Simulation Results 876.2 Simula
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6.2 Simulation Results 89(a)(b)Figu
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6.2 Simulation Results 91(a)(b)Figu
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6.2 Simulation Results 93odometry p
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6.2 Simulation Results 95vibrations
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ConclusionsIn this thesis, a novel
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Appendixes 993334 fileName = [’v0
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Appendixes 10111 % compute fft of d
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Appendixes 10326 NFFT = 2ˆnextpow2
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Appendixes 105Appendix B
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Appendixes 107(a)(b)(c)Figure 6.11:
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Appendixes 117(a)(b)Figure 6.21: Am
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Appendixes 121Appendix C
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Appendixes 133(a)(b)Figure 6.36: Am
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BIBLIOGRAPHY 135[13] VTI Technologi
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