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首页> 外文会议>IEEE/RSJ International Conference on Intelligent Robots and Systems >Modeling of skid-steer mobile manipulators using spatial vector algebra and experimental validation with a compact loader
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Modeling of skid-steer mobile manipulators using spatial vector algebra and experimental validation with a compact loader

机译：使用空间矢量代数的滑移式移动机械手建模和紧凑型装载机的实验验证

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The present work models the dynamics of general skid-steer mobile manipulators using the formalism and tools of the spatial vectors algebra introduced by Featherstone. The model built is validated using inertial measurements obtained during field tests with a compact skid-steer loader. The paper demonstrates the benefits of using the spatial vector algebra formulation, showing that this modeling approach allows to integrate traction forces and study the arm-vehicle, as well as vehicle-ground interactions in a single model. This feature is not possible with many other of the existing modeling approaches and simulation tools, thus opens the way to research on mechanically more complex robot designs and their controllers. It is to be noted that most of the existing models and simulations of mobile manipulators consider two-wheeled differentially driven bases and avoid accurate models of skid-steering bases because of the complexity of simulating wheels that skid while rolling. However, skid-steer traction is common in most of the industrial construction and mining machinery because of their simpler mechanics, high reliability, and better mobility in rough terrains. Hence, the development of physically accurate models of skid-steer manipulators is fundamental. We chose to validate the model using a Cat 262C compact-skid steer loader instead of a small mobile manipulator common in robotics research laboratory to highlight the usefulness of the presented model and the spatial vector algebra approach.
机译：目前的工作模型使用云台推出的空间矢量代数的形式主义和工具来模拟一般滑动式移动机械手的动态。使用具有紧凑型滑动式装载机的现场测试期间获得的惯性测量来验证构建的模型。本文展示了使用空间载体代数制剂的益处，表明该建模方法允许整合牵引力并在单一模型中研究手臂车辆，以及车辆地面相互作用。对于许多现有的建模方法和仿真工具，不可能使用此功能，从而打开了研究机械更复杂的机器人设计和控制器的方法。应注意，移动操纵器的大多数现有模型和模拟都考虑两轮差分驱动的基础，并避免准确的滑动转向基座的模型，因为模拟轮廓在滚动时滑动的复杂性。然而，由于其更简单的力学，高可靠性和更好的地形移动性，滑动牵引力在大多数工业建筑和矿业机械中是常见的。因此，在物理上准确的滑动式操纵器模型的发展是基本的。我们选择使用CAT 262C Compact-Skid转向装载机而不是机器人研究实验室中常见的小型移动机械手来验证模型，以突出显示模型和空间矢量代数方法的有用性。

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