In this paper, we study the dynamics of an articulated planar mobile robot for confined environment exploration. The mobile vehicle is composed of n identical modules hitched together with passive revolute joints. Each module has the structure of a four-bar parallel mechanism on a mobile platform. The dynamic model is derived using Lagrange formulation. Computer simulations illustrate the model by addressing a path following problem inside a pipe. The dynamic model presented in this paper is the basis for the design of motion control algorithms that encode energy optimization and sensor performance maximization.
Dynamics and Control of a Planar Multibody Mobile Robot for Confined Environment Inspection
Manuscript received April 19, 2013; final manuscript received March 21, 2014; published online September 12, 2014. Assoc. Editor: Parviz Nikravesh.
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Douadi, L., Spinello, D., and Gueaieb, W. (September 12, 2014). "Dynamics and Control of a Planar Multibody Mobile Robot for Confined Environment Inspection." ASME. J. Comput. Nonlinear Dynam. January 2015; 10(1): 011005. https://doi.org/10.1115/1.4027303
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