Please use this identifier to cite or link to this item: https://doi.org/10.1109/ROBOT.2006.1642215
Title: Wheel-ground interaction modelling and torque distribution for a redundant mobile robot
Authors: Li, Y.P.
Zielinska, T.
Ang Jr., M.H. 
Lin, W.
Issue Date: 2006
Source: Li, Y.P.,Zielinska, T.,Ang Jr., M.H.,Lin, W. (2006). Wheel-ground interaction modelling and torque distribution for a redundant mobile robot. Proceedings - IEEE International Conference on Robotics and Automation 2006 : 3362-3367. ScholarBank@NUS Repository. https://doi.org/10.1109/ROBOT.2006.1642215
Abstract: An operational space dynamic model of a redundantly actuated wheeled mobile robot taking into account the wheel-ground interaction is derived based on vehicle dynamics. The conditions for the robot to avoid slip are derived for both torque and motion. Two torque distribution schemes based on different criteria are proposed. The non-slip condition for motion is utilized to plan slip avoidance paths. The null space joint torques are utilized to fulfill the non-slip condition for torque and avoid actuator torque limits violation. Simulations results are presented to demonstrate the effects of wheel-ground interaction and performance of the proposed torque distribution schemes. © 2006 IEEE.
Source Title: Proceedings - IEEE International Conference on Robotics and Automation
URI: http://scholarbank.nus.edu.sg/handle/10635/74019
ISBN: 0780395069
ISSN: 10504729
DOI: 10.1109/ROBOT.2006.1642215
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