NetNews Usenet Archive 1992 #27/NN_1992_27.iso/spool/comp/robotics/2327

Internet Message Format | 1992-11-16 | 1.8 KB

Path: sparky!uunet!pipex!warwick!warwick!not-for-mail
From: [e-mail] (Mr I M Hunter)
Newsgroups: comp.robotics
Subject: Modeling Slip, Mobile Robotics, Kinematics, Simulation
Date: 16 Nov 1992 15:27:19 -0000
Organization: Computing Services/Engineering, University of Warwick, UK
Lines: 28
Distribution: world
Message-ID: <[e-mail]>
NNTP-Posting-Host: clover.csv.warwick.ac.uk

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So, no one's performed a simulation of a mobile robot at kinematics level
then? I think not. I have a number of papers regarding kinematic modeling
of wheeled robots, however, I would dearly enjoy discussions concerned with
modeling possible errors:

        Has anyone attempted to model the effects of slip: What happens to
an omnidirectional robot when wheels are misaligned or differ in size? How
do you model which wheel (or wheels) slip, by what degree and what is
the resultant force on the body of the robot? How would YOU model static
and dynamic friction? And this is after any errors within the robot itself
have been calculated (non-linearities, chain backlash, centre of gravity,
controller errors and on And onnnnnnn) Am I simply a misguided man attempting
to model the (up to now) unmodelable? All I actually want to do is model a
couple of effects without trying to create a 'perfect' model (cos that is a
looser: what about differences in floor surfaces or angle of floor etc..)

If you don't want to enter a discussion but know of a good paper or 2 could
you please send me details.

Anyone who's done any error modeling please contact me at

        [e-mail]
or
        [e-mail]

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