Skid steer tracked-based robots are popular due to their mechanical simplicity, zero-turning radius and greater traction. This architecture also has several advantages when employed by mobile platforms designed to climb and navigate ferrous surfaces, such as increased magnet density and low profile (center of gravity). However, creating a kinematic model for localization and motion control of this architecture is complicated due to the fact that tracks necessarily slip and do not roll. Such a model could be based on a heuristic representation, an experimentally-based characterization or a probabilistic form. This paper will extend an experimentally-based kinematic equivalence model to a climbing, track-based robot platform. The model will be adapted to account for the unique mobility characteristics associated with climbing. The accuracy of the model will be evaluated in several representative tasks. Application of this model to a climbing mobile robotic welding system (MRWS) is presented.
Skip Nav Destination
ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 15–18, 2010
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4410-6
PROCEEDINGS PAPER
Developing a Kinematic Estimation Model for a Climbing Mobile Robotic Welding System
Aaron T. O’Toole,
Aaron T. O’Toole
Tennessee Technological University, Cookeville, TN
Search for other works by this author on:
Stephen L. Canfield
Stephen L. Canfield
Tennessee Technological University, Cookeville, TN
Search for other works by this author on:
Aaron T. O’Toole
Tennessee Technological University, Cookeville, TN
Stephen L. Canfield
Tennessee Technological University, Cookeville, TN
Paper No:
DETC2010-28878, pp. 1187-1194; 8 pages
Published Online:
March 8, 2011
Citation
O’Toole, AT, & Canfield, SL. "Developing a Kinematic Estimation Model for a Climbing Mobile Robotic Welding System." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B. Montreal, Quebec, Canada. August 15–18, 2010. pp. 1187-1194. ASME. https://doi.org/10.1115/DETC2010-28878
Download citation file:
32
Views
Related Proceedings Papers
Related Articles
Mechanical Design of a Robotic System for Automatic Installation of Magnetic Markers on the Roadway
J. Mech. Des (March,2006)
Coordinated Longitudinal and Lateral Motion Control of Vehicles for IVHS
J. Dyn. Sys., Meas., Control (September,2001)
Spatial Visual Feedback for Robotic Arc-Welding Enforced by Inductive Machine Learning
J. Manuf. Sci. Eng (April,2024)
Related Chapters
Time-Varying Coefficient Aided MM Scheme
Robot Manipulator Redundancy Resolution
Pseudoinverse Method and Singularities Discussed
Robot Manipulator Redundancy Resolution
Kinematics Analysis of Scissor Robot
International Conference on Control Engineering and Mechanical Design (CEMD 2017)