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

More documents

Recommendations

Info

LIST OF FIGURESVII6.4 (a) Block scheme for the longitudinal reaction force; (b) Block scheme forthe contact point dynamics. . . . . . . . . . . . . . . . . . . . . . . . . . . 846.5 (a) Simulation result for Roll motion and its envelop; (b) FFT of the simulationresult for Roll motion. . . . . . . . . . . . . . . . . . . . . . . . . . . 886.6 (a) Simulation result for Pitch motion and its envelop; (b) FFT of the simulationresult for Pitch motion. . . . . . . . . . . . . . . . . . . . . . . . . . 896.7 (a) Simulation result for the cable force by pulling the robot platform sidewardsat v y = 1 mm sand at different heights, when the wheels are stopped; (b)Simulation result for the cable force by pulling the robot platform sidewardsat v y = 1 mm s, when the wheels are spinning at different velocities. . . . . . . 916.8 Simulation result for moving along a straight line at v x = 1 m s with λ max = 10 −4 . 936.9 Simulation result for swiveling in place at w z = 60 degswith: (a) λ max = 1; (b)λ max = 10 −4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 946.10 Low-pass filtered data from accelerometers and their FFT on concrete for:(a) ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . . . . . . . . . . . . . . . . 1066.11 Low-pass filtered data from accelerometers and their FFT on tile for: (a)ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . . . . . . . . . . . . . . . . . . 1076.12 Low-pass filtered data from accelerometers and their FFT on carpet for: (a)ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . . . . . . . . . . . . . . . . . . 1086.13 Peak frequencies on concrete for: (a) a x ; (b) a y ; (c) a z . . . . . . . . . . . . . 1096.14 Peak frequencies on tile for: (a) a x ; (b) a y ; (c) a z . . . . . . . . . . . . . . . 1106.15 Peak frequencies on carpet for: (a) a x ; (b) a y ; (c) a z . . . . . . . . . . . . . . 1116.16 Amplitude of the data on: (a) Concrete; (b) Tile; (c) Carpet. . . . . . . . . . 1126.17 Low-pass filtered data from accelerometers and their FFT without the aluminumframe on concrete for: (a) ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs .1136.18 Low-pass filtered data from accelerometers and their FFT without the aluminumframe on carpet for: (a) ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . 1146.19 Peak frequencies without the aluminum frame on concrete for: (a) a x ; (b) a y ;(c) a z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1156.20 Peak frequencies without the aluminum frame on carpet for: (a) a x ; (b) a y ;(c) a z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
LIST OF FIGURESVIII6.21 Amplitude of the data without the aluminum frame on: (a) Concrete; (b)Carpet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1176.22 Low-pass filtered data from accelerometers and their FFT with the accelerometerson a wheel on concrete for: (a) ω ∗ z= 2 degs ; (b) ω∗ z= 10 degs ; (c)ω ∗ z = 18 degs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1186.23 Low-pass filtered data from accelerometers and their FFT with the accelerometerson a wheel on carpet for: (a) ω ∗ z = 2 degs ; (b) ω∗ z = 10 degs ; (c) ω∗ z = 18 degs . 1196.24 Peak frequencies with the accelerometers on a wheel on: (a) Concrete; (b)Carpet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1206.25 Simulation results from accelerometers and their FFT with λ max = 1 for: (a)ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . . . . . . . . . . . . . . . . . . 1226.26 Simulation results from accelerometers and their FFT with λ max = 10 −1 for:(a) ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . . . . . . . . . . . . . . . . 1236.27 Simulation results from accelerometers and their FFT with λ max = 10 −2 for:(a) ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . . . . . . . . . . . . . . . . 1246.28 Simulation results from accelerometers and their FFT with λ max = 10 −3 for:(a) ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . . . . . . . . . . . . . . . . 1256.29 Simulation results from accelerometers and their FFT with λ max = 10 −4 for:(a) ω ∗ z = 10 degs ; (b) ω∗ z = 30 degs ; (c) ω∗ z = 60 degs . . . . . . . . . . . . . . . . 1266.30 Peak frequencies of simulation results with λ max = 1 for: (a) a x ; (b) a y ; (c) a z . 1276.31 Peak frequencies of simulation results with λ max = 10 −1 for: (a) a x ; (b) a y ;(c) a z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1286.32 Peak frequencies of simulation results with λ max = 10 −2 for: (a) a x ; (b) a y ;(c) a z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1296.33 Peak frequencies of simulation results with λ max = 10 −3 for: (a) a x ; (b) a y ;(c) a z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1306.34 Peak frequencies of simulation results with λ max = 10 −4 for: (a) a x ; (b) a y ;(c) a z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1316.35 Amplitude of the simulation results with: (a) λ max = 1; (b) λ max = 10 −1 ; (c)λ max = 10 −2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1326.36 Amplitude of the simulation results with: (a) λ max = 10 −3 ; (b) λ max = 10 −4 . . 133
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 10 and 11: List of Tables5.1 Table of the geom
Page 12 and 13: 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 56 and 57: 3.3 Characterization of the Tire Fo
Page 58 and 59:
3.3 Characterization of the Tire Fo
Page 60 and 61:
Page 62 and 63:
Page 64 and 65:
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 80 and 81:
Page 82 and 83:
Page 84 and 85:
Page 86 and 87:
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
Page 114 and 115:
Appendixes 1043031 % Filter the dat
Page 116 and 117:
Appendixes 106(a)(b)(c)Figure 6.10:
Page 118 and 119:
Page 120 and 121:
Page 122 and 123:
Page 124 and 125:
Page 126 and 127:
Page 128 and 129:
Page 130 and 131:
Appendixes 120(a)(b)Figure 6.24: Pe
Page 132 and 133:
Page 134 and 135:
Page 136 and 137:
Page 138 and 139:
Page 140 and 141:
Page 142 and 143:
Page 144 and 145:
Bibliography[1] G. Oriolo, A. De Lu
show all

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

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?