Kinematic and dynamic analysis of mobile robot

Abstract

Mobile robots with omni-directional motion capabilities are very useful especially in mobile manipulation tasks and tasks in human environment. In this thesis, we present the kinematic and dynamic of one class of omni-directional mobile robots that is driven by 2-axis powered caster wheels with non-intersecting axes of motion. Our derivation approach treats each caster wheel as a serial manipulator and the entire system as a parallel manipulator generated by several serial manipulators with a common end-effector, following the operational space approach and augmented object model introduced by Khatib. The kinematic and dynamic analysis are performed to obtain optimal design of mobile robot powered by 2-axes caster wheel. We introduce condition number polar plot (CNPP) to analyze the condition number of Jacobian matrix in kinematic and pseudo kinetic energy matrix in dynamic. Moreover, we introduce theorem of dynamically isotropic configuration as a supplementary tool for augmented object model in operational space.