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FAB30303 Mobile Robotics - Assignment - July 2020 PDF

This document provides instructions for Assignment 1 of a mobile robotics course. It includes two questions assessing understanding of mobile robot kinematics and trajectory planning. Question 1 asks students to derive the robot kinematic model in global coordinates for an omni-directional or Mechanum wheeled robot. Question 2 requires drawing a timing diagram for trajectory planning of a differential drive robot to navigate between start and target points. The assignment is worth a total of 40 marks and must be submitted by the given deadline.

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97 views2 pages

FAB30303 Mobile Robotics - Assignment - July 2020 PDF

This document provides instructions for Assignment 1 of a mobile robotics course. It includes two questions assessing understanding of mobile robot kinematics and trajectory planning. Question 1 asks students to derive the robot kinematic model in global coordinates for an omni-directional or Mechanum wheeled robot. Question 2 requires drawing a timing diagram for trajectory planning of a differential drive robot to navigate between start and target points. The assignment is worth a total of 40 marks and must be submitted by the given deadline.

Uploaded by

paishkepeng
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Universiti Kuala Lumpur

Malaysia France Institute


Industrial Automation Section

FAB 30303 Mobile Robotics Assignment 1 Sem. July 2020


Issued date: 29th September 2020 Due date: 4th October 2020
.
No. Course Learning Outcomes Questions Total Marks
CLO 1 Demonstrate & understand the terminologies & concepts √ 1 30
used in Mobile Robot(C3) 2 10
Total Marks 40

Instructions:
1. This is an individual assignment. Answer in handwriting is required.
2. In order to merit full marks, show all works properly.
3. Submit the scanned version of your answer by above the due date.

Question 1

Using the approach discussed in lectures for modelling the behavior of a mobile robot from Robot
Constraint Equation, obtain the complete Robot Kinematic in global reference frame for the mobile robot
shown in Figure 1 below. The robot is designed to have three Swedish wheels (either Omni wheels or
Mechanum wheels), arranged radially symmetrically. Assume the following parameters to obtain the
Robot Kinematic Model: -
1. The distance between each wheel and center P is 𝑳 = 𝟏𝟓, and all three wheels have the same
radius, 𝒓 = 𝟒.
2. The wheels are positioned around the vehicle at 𝟏𝟐𝟎° and perpendicular to the vehicle. Each
wheel is powered by an electric motor directly to the wheel’s rotating shaft.
3. The robot is positioned such that 𝜽 = 𝟏𝟎𝟓° with respect to global reference frame.
4. The robot engages its wheels at three independent rotational speeds by the motor
(𝝋̇𝟏 = 𝟔), (𝝋̇𝟐 = 𝟐), (𝝋̇𝟑 = 𝟒).

You are required to show and compare the Robot Kinematic Constraint and the Motion in global
𝒙̇
reference frame 𝝃̇𝟏 = 𝒚̇ for both cases: - 1. All wheels are Omni wheels and 2. All wheels are
𝜽̇
Mechanum wheels.

1
Figure 1: Wheels Geometry for three wheeled mobile robot

Question 2

Given a Differential Drive Robot (2 powered wheels, 2 unpowered wheels) to move from starting point (0,
0) and 𝜽 = 𝟒𝟓° as shown in Figure 2. Draw the timing diagram for mobile robot trajectory planning to
move to the target point (10, 10) and 𝜽 = 𝟒𝟓°. You may assume the changing time between the nodes
by 𝑡 , 𝑡 , 𝑡 etc.

Target Point

Figure 2: Mobile Robot Trajectory

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