introduction to locomotor
TRANSCRIPT
INTRODUCTION TO
Mobile Robot Locomotion
Aditya Kurniawan
Mechatronics Engineering
POLTEKOM 2010
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WHAT IS A ROBOT?
ROBOT is an electromechanical (mechatronic) system
with sensing, intelligence, or mobility
To be qualified as a robot, a machine has to be able to:
1) Sensing and perception: get information from its surroundings
2) Carry out different tasks: Locomotion or manipulation, do
something physical–such as move or manipulate objects
3) Re-programmable: can do different things
4) Function autonomously and interact with human beings
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Wheeled mobile robots
Legged robots
Aerial robots (UAVs) / Unmanned Aerial Vehicles)
Underwater robots
Humanoid robots
Type of Mobile Robot
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Basic of Mobile Robot
• POSITION Principle in mobile robot
Position is a 2 dimensional plane on a cartesian axes which
could be defined from its value stated on each axes (X,Y)
Reference
line
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Mobile Based Robot
• POSITION of mobile robot
POSITION : (X,Y)
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Basic of Mobile Robot
• ORIENTATION Principle in mobile robot
Orientation is a degree on a dimensional plane on a cartesian
axes which could be defined as degree range from 0-360
Reference
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Mobile Based Robot
• ORIENTATION of mobile robot
POSITION : (Φ)
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Mobile Based Robot
• POSTURE of mobile robot
Posture is a mobile robot dimensional statement that
state both a POSITION, and an ORIENTATION
POSTURE : (X,Y,Φ)
Mobile Based Robot
• POSTURE of mobile robot
Example :
POSTURE : (X2,Y3, Φ 45˚)
Basic of Mobile Robot
• ORIENTATION Principle in mobile robot
Orientation is a degree on a dimensional plane on a cartesian
axes which could be defined as degree range from 0-360
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45 ˚
Basic of Mobile Robot
• ORIENTATION Principle in mobile robot
Orientation is a degree on a dimensional plane on a cartesian
axes which could be defined as degree range from 0-360
2
3
45 ˚
Basic of Mobile Robot
• ORIENTATION Principle in mobile robot
Orientation is a degree on a dimensional plane on a cartesian
axes which could be defined as degree range from 0-360
Center of
position
Basic of Mobile Robot
• Motion parameter on mobile robotic
Wheel distance
Basic of Mobile Robot
• Motion parameter on mobile robotic
Wheel diameter
Basic of Mobile Robot
• Motion parameter on mobile robotic
Rotational speed
Basic of Mobile Robot
• Arc on the wheel Arc
Φ
Mobile Based Robot
• Motion principle
• Motion principle
Linier motion (linier disposition)
Circular motion
Mobile Based Robot
Center motion
• Type of wheeled mobile robot
Mobile Based Robot
Smooth motion
Risk of slipping
Some times use roller-ball
to make balance Bi-wheel type robot
Omnidirectional robot
Caterpillar type robot
Exact straight motion
Robust to slipping
Inexact modeling of turning
Free motion
Complex structure
Weakness of the frame
Mobile Based Robot Fixed wheel Centered orientable wheel
Off-centered orientable wheel
(Castor wheel) Swedish wheel:omnidirectional
property
Mobile Based Robot