0

Full Content is available to subscribers

Subscribe/Learn More  >

Controlled Maneuverability of an Articulated Tracked Mobile Robot

[+] Author Affiliations
Patrick Labenda, Tim Sadek, Thomas Predki

Ruhr-University Bochum, Bochum, Germany

Paper No. DETC2010-28716, pp. 1141-1147; 7 pages
doi:10.1115/DETC2010-28716
From:
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME

abstract

Considerable potentials with regard to mobility in unstructured environment offer actively articulated mobile robots equipped with powered wheels or tracks. These potentials are obvious when dealing with a system’s trafficability and terrainability. However, maneuverability and steerability of articulated mobile robots are challenging. This is due to the fact that these robots represent a form of truck-trailer systems leading to interactions and influences between the individual vehicles resulting in significant problems like e.g. off-tracking with regard to a given path. Further on, when dealing with a mobile robot’s maneuverability there are only few scientific contributions covering articulated vehicles with actively powered trailers using tracks as propulsive elements. The described systems differ significantly with regard to their configuration with respect to the multi-redundant mobile robot in this work. To investigate the maneuverability of articulated tracked mobile robots a demonstrator has been developed. It is built up out of three identical modules which are connected with each other in a rowby means of a rotational and a translational degree-of-freedom. Each module has two tracks which can be powered independently. Overall, the system has got ten degrees-of-freedom whereas six of them are active and four passive. The developed demonstrator has been used for investigations dealing with maneuverability and steerability as well as modularization of the system’s control architecture. The paper summarizes the development of the mobile robot, its feedback control strategy as well as the tests carried out. The achieved results show a satisfying performance with regard to the implemented control strategy and the system’s maneuverability.

Copyright © 2010 by ASME
Topics: Mobile robots

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In