introduction to locomotor
TRANSCRIPT
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INTRODUCTION TO
Mobile Robot Locomotion
Aditya KurniawanMechatronics EngineeringPOLTEKOM [email protected]
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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 line
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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)
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Mobile Based Robot• POSTURE of mobile robot
Example :
POSTURE : (X2,Y3, Φ 45˚)
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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
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45 ˚
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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
2
3
45 ˚
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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
Center of position
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Basic of Mobile Robot• Motion parameter on mobile robotic
Wheel distance
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Basic of Mobile Robot• Motion parameter on mobile robotic
Wheel diameter
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Basic of Mobile Robot• Motion parameter on mobile robotic
Rotational speed
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Basic of Mobile Robot• Arc on the wheel
Arc
Φ
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Mobile Based Robot• Motion principle
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• Motion principle
Linier motion (linier disposition)
Circular motion
Mobile Based Robot
Center motion
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• 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
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Mobile Based RobotFixed wheel Centered orientable wheel
Off-centered orientable wheel (Castor wheel) Swedish wheel:omnidirectional
property
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Mobile Based Robot