In the context of autonomous off-road mobility, tracked robots are useful because they offer a large contact area with the ground, which provides better traction than wheels especially on soft terrains. However, they pose many challenges for modeling when tracks are suspended via articulated mechanisms. This is the case for the all-terrain rover Polibot, whose inverse kinematics is derived in the paper. The model predicts the robot pose and suspension configuration given the terrain profile. It is also able to evaluate the impact of the design parameters, proving a useful tool to analyze the robot performance or to design the future generations of the rover.
Kinematic Modelling of a High Mobility Tracked Robot / Ugenti, A.; Galati, R.; Mantriota, G.; Reina, G.. - STAMPA. - 122:(2022), pp. 37-44. (Intervento presentato al convegno 4th International Conference of the IFToMM Italy, IFIT 2022 tenutosi a ita nel 2022) [10.1007/978-3-031-10776-4_5].
Kinematic Modelling of a High Mobility Tracked Robot
Galati R.Conceptualization
;Mantriota G.Conceptualization
;Reina G.
Conceptualization
2022-01-01
Abstract
In the context of autonomous off-road mobility, tracked robots are useful because they offer a large contact area with the ground, which provides better traction than wheels especially on soft terrains. However, they pose many challenges for modeling when tracks are suspended via articulated mechanisms. This is the case for the all-terrain rover Polibot, whose inverse kinematics is derived in the paper. The model predicts the robot pose and suspension configuration given the terrain profile. It is also able to evaluate the impact of the design parameters, proving a useful tool to analyze the robot performance or to design the future generations of the rover.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
