MOBILE ROBOTICS course

KINEMATICS MODELS OF
MOBILE ROBOTS

Maria Isabel Ribeiro

Pedro Lima

mir@isr.ist.utl.pt pal@isr.ist.utl.pt
Instituto Superior Tcnico (IST)
Instituto de Sistemas e Robtica (ISR)
Av.Rovisco Pais, 1
1049-001 Lisboa
PORTUGAL

April.2002

All the rights reserved

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro 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.

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Kinematics for Mobile Robots

What is a kinematic model ?

What is a dynamic 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.

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Notation

Yb

Ym
Xm

y
P

x Xb

{Xm,Ym} moving frame

{Xb, Yb} base frame

x
robot posture in base frame
q = y

cos sin 0
Rotation matrix expressing
R() = sin cos 0
the orientation of the base
0 0 1 frame with respect to the
moving frame

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Wheeled Mobile Robots

Idealized rolling wheel

y axis

x axis
y axis

z motion

If the wheel is free to rotate about its axis (x axis), the

robot exhibits preferencial rollong motion in one direction
(y axis) and a certain amount of lateral slip.

For low velocities, rolling is a reasonable wheel model.

This is the model that will be considered in the kinematics
models of WMR

Wheel parameters:
r = wheel radius
v = wheel linear velocity
w = wheel angular velocity

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Differential Drive

ICC
2 drive rolling wheels

R
L

y

ICC = ( x R sin , y + Rcos)

vr(t) linear velocity of right wheel

control variables
vl(t) linear velocity of left wheel
r nominal radius of each wheel
R instantaneous curvature radius of the robot trajectory, relative
to the mid-point axis

L
R Curvature radius of trajectory
2 described by LEFT WHEEL

L Curvature radius of trajectory

R+
2 described by RIGHT WHEEL

v r (t)
w(t ) = v r (t) v l (t)
R+L w(t ) =
2 L
1
v( t ) = w ( t )R = ( v r ( t ) + v l ( t ))
w( t ) =
vl (t) L ( v l ( t ) + v r ( t )) 2
R=
RL 2 ( v l ( t ) v r ( t ))
2

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Differential Drive

Kinematic model in the robot frame

v x ( t ) r 2 r 2
w l (t)
v y ( t ) = 0 0
! w r ( t )
( t ) r L r L
wr(t) angular velocity of right wheel
wl(t) angular velocity of left wheel

Useful for velocity control

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Differential Drive

Kinematic model in the world frame

1
v( t ) = w( t )R = ( v r ( t ) + v l ( t ))
2
v (t) v l (t)
w(t ) = r
L

t
x( t ) = v() cos(())d
x! ( t ) = v( t ) cos ( t ) 0
t

y! ( t ) = v( t ) sin ( t ) y( t ) = v() sin(())d

0

! ( t ) = w( t ) t
( t ) = w( )d
0

x! ( t ) cos ( t ) 0 q! ( t ) = S(q)( t )
v( t )
y! ( t ) = sin ( t ) 0
control
variables

! w( t )
( t ) 0 1

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Differential Drive

Particular cases:

vl(t)=vr(t)

Straight line trajectory

v r ( t ) = v l ( t ) = v( t )
w( t ) = 0 ! ( t ) = 0 ( t ) = cte.

vl(t)=-vr(t)

Circular path with ICC (instantaneous center of curvature) on

the mid-point between drive wheels

v( t ) = 0
2
w( t ) = vR (t)
L

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Synchronous drive

In a synchronous drive robot (synchro drive) each wheel is

capable of being driven and steered.
Typical configurations
Three steered wheels arranged as vertices of an equilateral
triangle often surmounted by a cylindrical platform
All the wheels turn and drive in unison
This leads to a holonomic behavior

Steered wheel
The orientation of the rotation axis can be controlled

y axis

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Synchronous drive

All the wheels turn in unison

All of the three wheels point in the same direction and turn
at the same rate
This is typically achieved through the use of a complex
collection of belts that physically link the wheels together
The vehicle controls the direction in which the wheels point
and the rate at which they roll
Because all the wheels remain parallel the synchro drive
always rotate about the center of the robot
The synchro drive robot has the ability to control the
orientation of their pose diretly.

Control variables (independent)

v(t), w(t)

t
x( t ) = v() cos(())d
0
t
y( t ) = v() sin(())d
0
t
( t ) = w( )d
0

The ICC is always at infinity

Changing the orientation of the wheels
manipulates the direction of ICC

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Synchronous Drive

Particular cases:

v(t)=0, w(t)=w=cte. during a time interval t

The robot rotates in place by an amount w t

v(t)=v, w(t)=0 during a time interval t

The robot moves in the direction its pointing a distance

v t

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Tricycle

Three wheels and odometers on the two rear wheels

Steering and power are provided through the front wheel

control variables:
steering direction (t)
angular velocity of steering wheel ws(t)

The ICC must lie on

the line that passes
through, and is
perpendicular to, the
fixed rear wheels

ICC ICC

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Tricycle

Yb

d If the steering wheel is set to
R an angle (t) from the
straight-line direction, the
y
tricycle will rotate with
angular velocity w(t) about a
point lying a distance R along
the line perpendicular to and
x passing through the rear
Xb
wheels.

r = steering wheel radius

v s (t) = w s (t) r linear velocity of steering wheel

(
R( t ) = d tg ( t )
2
)
w s (t) r
w(t ) = angular velocity of the moving frame
d + R( t )
2 2 relative to the base frame

v s (t)
w( t ) = sin ( t )
d

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Tricycle

Kinematic model in the robot frame

v x ( t ) = v s ( t ) cos ( t )
v y (t) = 0 with no splippage

!( t ) = v s ( t ) sin ( t )
d

Kinematic model in the world frame

x! ( t ) = v s ( t ) cos ( t ) cos ( t )
y! ( t ) = v s ( t ) cos ( t ) sin ( t )
v (t)
! ( t ) = s sin ( t )
d

x! ( t ) cos ( t ) 0
v( t ) v( t ) = v s ( t ) cos ( t )
y! ( t ) = sin ( t ) 0 v s (t)
! w( t ) w(t ) = sin ( t )
( t ) 0 1 d

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models

 Omnidireccional

Ym
L

30
Yf

2
3

Xf
Xm

Swedish wheel
Kinematic model in the robot frame

1 1
0 r r
x
V 3 3 w1
2 1 1
Vy = r r r w 2
! 3 3 3 w1, w2, w3 angular
r r r w 3 velocities of the three
3L 3L 3L swedish wheels

Robtica Mvel 2002 - Pedro Lima, M. Isabel Ribeiro Kinematics Models