Mobile Robotics : Assignment

2002 - © Pedro Lima, M. Isabel RibeiroRobótica Móvel Kinematics Models
KINEMATICS MODELS OF KINEMATICS MODELS OF
MOBILE ROBOTSMOBILE ROBOTS
Maria Isabel Ribeiro
Pedro Lima
[e-mail] [e-mail]
Instituto Superior Técnico (IST)
Instituto de Sistemas e Robótica (ISR)
Av.Rovisco Pais, 1
1049-001 Lisboa
PORTUGAL
April.2002
All the rights reserved
MOBILE ROBOTICS course

2002 - © Pedro Lima, M. Isabel RibeiroRobótica Móvel Kinematics Models
References
• Gregory Dudek, Michael Jenkin, “Computational Principles of
Mobile Robotics”, Cambridge University Press, 2000 (Chapter 1).
• Carlos Canudas de Wit, Bruno Siciliano, Georges Bastin (eds),
“Theory of Robot Control”, Springer 1996.

2002 - © Pedro Lima, M. Isabel RibeiroRobótica Móvel Kinematics Models
Kinematics for Mobile Robots
• What is a kinematickinematic model ?
• What is a dynamicdynamic model ?
• Which is the difference between kinematics and
dynamics?
• Locomotion is the process of causing an autonomous
robot to move.
– In order to produce motion, forces must be applied to the
vehicle
• Dynamics – the study of motion in which these forces are
modeled
– Includes the energies and speeds associated with these
motions
• Kinematics – study of the mathematics of motion withouth
considering the forces that affect the motion.
– Deals with the geometric relationships that govern the system
– Deals with the relationship between control parameters and
the beahvior of a system in state space.

2002 - © Pedro Lima, M. Isabel RibeiroRobótica Móvel Kinematics Models
Notation
• {Xm,Ym} – moving frame
• {Xb, Yb} – base frame
XmYm
P
Xb
Yb
x
y
θ






θ
=y
x
q robot posture in base frame






θθ−
θθ
=θ
100
0cossin
0sincos
)(R Rotation matrix expressing
the orientation of the base
frame with respect to the
moving frame