Scribd
Upload
27 views1 page

Problems 9

The document presents exercise problems related to the dynamics and kinematics of mobile robots, specifically focusing on two-wheeled and three-wheeled robots on flat and piece-wise flat surfaces. It includes derivations of contact equations, kinematic equations, and the analysis of slipping conditions. Each problem encourages the application of principles from robotics and mechanics to understand the movement of robots in different terrains.

Uploaded by

Mazin Alsaedi
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
27 views1 page

Problems 9

The document presents exercise problems related to the dynamics and kinematics of mobile robots, specifically focusing on two-wheeled and three-wheeled robots on flat and piece-wise flat surfaces. It includes derivations of contact equations, kinematic equations, and the analysis of slipping conditions. Each problem encourages the application of principles from robotics and mechanics to understand the movement of robots in different terrains.

Uploaded by

Mazin Alsaedi
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
You are on page 1/ 1

Exercise Problems for Module 9

[P9.1] Consider two flat planes meeting at an angle and a WMR with two
wheels, modelled as thin disks, and a fixed-length (rigid) axle mov-
ing on it in a way such that two wheels are on the two different
planes. From Waldron (1995) or from first principles, show that the
two-wheeled mobile robot with the rigid axle will slip while moving on
this piece-wise flat terrain.

[P9.2] From the paper by Montana (1988) or first principles derive the contact
equations used for single-point contact.

[P9.3] Consider a sphere rolling on a flat surface. Derive the contact equa-
tions and show that a sphere rolling on a flat surface gives rise to
non-holonomic constraints.

[P9.4] Obtain the kinematic equations of the three-wheeled mobile robot


moving on a flat surface.

[P9.5] On a flat surface, the three-wheeled mobile robot has two degrees of
freedom. What is the relationship between the three inputs which will
enable the three-wheeled mobile robot to move without slip on a flat
surface.

You might also like