Advance Modeling of a Skid-Steering Mobile Robot for Remote ...
Advance Modeling of a Skid-Steering Mobile Robot for Remote ...
Advance Modeling of a Skid-Steering Mobile Robot for Remote ...
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5.1 Identification <strong>of</strong> the Geometric and Inertial Parameters 65respect to our purposes.Moreover, to obtain the height <strong>of</strong> the CoM, i.e. the z coordinate <strong>of</strong> the vectors p i , the robotis tilted both on the left and right side until it reaches almost an equilibrium point, i.e. itdoes not fall on any side. Then, two straight lines perpendicular to the ground surface canbe drawn starting from the wheel/ground contact point and the height <strong>of</strong> CoM with respectto the floor can be found purely by the geometric intersection <strong>of</strong> the two lines, as depicted inFigure 5.1(b). It is worth noticing that such estimation <strong>of</strong> p iz , which is constant <strong>for</strong> the fourwheels, is reliable since we are considering the z axis <strong>of</strong> the robot frame perpendicular to theplane given by the four contact points.(a)(b)Figure 5.1: (a) Measuring the CoM position on x-y plane; (b) Measuring the CoM height.Tab.5.1 list all the geometric parameters defined above, where the contact points are numberedclockwise starting from the right-rear wheel to the left-rear wheel.i p xi p yi p zi1 -0.15 0.18 -0.232 0.13 0.18 -0.233 0.13 -0.18 -0.234 -0.15 -0.18 -0.23Table 5.1: Table <strong>of</strong> the geometric parameters.To have a first estimation <strong>of</strong> the robot tensor <strong>of</strong> inertia with respect to its principal axes, themain components are measured and weighted, and their tensors <strong>of</strong> inertia are then calculated