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v
u
v 𝑣 cos 𝜓
r
𝑦𝑏 𝑥𝑏 𝝍
𝑣 cos 𝜓 ● 𝑣 sin 𝜓
B
𝑦ሶ
u
y 𝑢 sin 𝜓
𝑢 sin 𝜓
𝑢 cos 𝜓
𝑦𝑖
I: Inertial Coordinate of the Mobile Robot about a fixed point
I● B: Body fixed coordinate of the Mobile Robot
𝑥𝑖
x: Forward displacement of the mobile robot w.r.t. I
𝑣 sin 𝜓 y: Lateral displacement of the mobile robot w.r.t. I
𝝍 : Angular displacement of the mobile robot w.r.t. I
𝑦 = 𝑢 sin 𝜓ሶ + 𝑣 cos 𝜓 𝑥ሶ
𝑢 cos 𝜓 u: Forward velocity of the mobile robot w.r.t. B
v: Lateral velocity of the mobile robot w.r.t. B
𝑥ሶ = 𝑢 cos 𝜓 − 𝑣 sin 𝜓
r : Angular velocity of the mobile robot w.r.t. B
𝑥ሶ 𝑢 cos 𝜓 − 𝑣 sin 𝜓
𝑦ሶ = 𝑢 sin 𝜓 + 𝑣 cos 𝜓
𝜓ሶ 𝑟
𝑥ሶ 𝑢 cos 𝜓 − 𝑣 sin 𝜓
𝑦ሶ = 𝑢 sin 𝜓 + 𝑣 cos 𝜓
𝜓ሶ 𝑟
Body fixed
𝑥ሶ cos 𝜓 −𝑠𝑖𝑛 𝜓 0 𝑢 Instantaneous
𝑦ሶ = sin 𝜓 cos 𝜓 0 𝑣 velocity
𝜓ሶ 0 0 1 𝑟
𝜂ሶ = 𝐽 𝜓 𝜍
It describes the relation between the velocity input commands 𝜍 and the derivatives of generalized coordinates 𝜂.ሶ
𝜂ሶ = 𝐽 𝜓 𝜍
Based on wheel configuration
Where:
−1
𝜍=𝐽 𝜓 𝜂ሶ
● 𝑥𝑏
B
𝑦𝑏
𝑥𝑏
B●
I: Inertial Coordinate of the Mobile Robot about a fixed point
B: Body fixed coordinate of the Mobile Robot
th
V drive - Tangential velocity of the I wheel
th
𝜔𝑖 - Angular velocity of the i wheel.
th
𝑎𝑖 - Radius of the i wheel
V drive = 𝝎𝒊 × 𝒂𝒊
𝑦𝑖
V 𝑠𝑙𝑖𝑑𝑒 - Tangential velocity of the Passive roller
I 𝑥𝑖 𝛽𝑖ሶ - Angular velocity of the passive roller
𝜌𝑖 - Radius of the passive roller
V 𝒔𝒍𝒊𝒅𝒆 = 𝜷𝒊ሶ × 𝝆𝒊
V drive = 𝜔𝑖 𝑎𝑖 From the diagram we can write:
𝛽𝑖ሶ 𝜌𝑖 𝑐𝑜𝑠 ∅𝑖
Lateral velocity at Ci, 𝑦𝑐𝑖ሶ = 𝛽𝑖ሶ 𝜌𝑖 cos ∅𝑖
V 𝑠𝑙𝑖𝑑𝑒 = 𝛽𝑖ሶ 𝜌𝑖 ∅𝑖
𝑦𝐶𝑖 𝑦𝑐𝑖ሶ
𝑥𝐶𝑖 ⇒ 𝛽𝑖ሶ 𝜌𝑖 =
● cos ∅𝑖
𝑪𝒊
𝑥𝑐𝑖ሶ = 𝜔𝑖 𝑎𝑖 − 𝛽𝑖ሶ 𝜌𝑖 sin ∅𝑖
𝑦𝑐𝑖ሶ
𝛽𝑖ሶ 𝜌𝑖 sin ∅𝑖 𝑥𝑐𝑖ሶ = 𝜔𝑖 𝑎𝑖 − sin ∅𝑖
cos ∅𝑖
th
𝑪𝒊 - wheel frame center of the i wheel
th
𝑥𝑐𝑖ሶ = 𝜔𝑖 𝑎𝑖 − 𝑦𝑐𝑖ሶ tan ∅𝑖
V drive - Tangential velocity of the I wheel
𝜔𝑖 - Angular velocity of the i
th
wheel. ⇒ 𝜔𝑖 𝑎𝑖 = 𝑥𝑐𝑖ሶ + 𝑦𝑐𝑖ሶ tan ∅𝑖
th
𝑎𝑖 - Radius of the i wheel. Rewriting the above
V 𝑠𝑙𝑖𝑑𝑒 - Tangential velocity of the Passive roller
1
𝛽𝑖ሶ - Angular velocity of the passive roller ⇒ 𝜔𝑖 = (𝑥𝑐𝑖ሶ + 𝑦𝑐𝑖ሶ tan ∅𝑖 )
𝑎𝑖
𝜌𝑖 - Radius of the passive roller
Rearranging in matrix form
∅𝑖 - Angle between roller axis to the Xci axis.
𝑦𝑐𝑖ሶ - Lateral Velocity 1 1 𝑥𝑐𝑖ሶ
𝜔𝑖 = tan ∅𝑖 --- (1)
𝑥𝑐𝑖ሶ - Longitudinal velocity 𝑎𝑖 𝑎𝑖 𝑦𝑐𝑖ሶ
Linear velocity vector of 𝑐𝑖 with respect to the frame of 𝑐𝑖 is given by
𝑦𝑐𝑖ሶ
𝜃𝐵𝑖 𝑥𝑐𝑖ሶ 𝑥𝑐𝑖ሶ
𝐶𝑖
𝑥𝐶𝑖 .𝑣𝐶𝑖 =
𝑦𝑐𝑖ሶ
𝑦𝐶𝑖 𝜃𝐵𝑖
● But we need Linear velocity vector of 𝑐𝑖 with respect to the frame B
𝑪𝒊
𝐵 𝐵 𝑥ሶ 𝑐𝑖
.𝑣𝐶𝑖 = 𝑐𝑖 𝑅(𝜃𝐵𝑖 ) 𝑦ሶ 𝑐𝑖
𝑦𝑏
Velocity component along 𝑥𝐵 , 𝑥ሶ 𝑐𝑖 cos 𝜃𝐵𝑖 − 𝑦ሶ 𝑐𝑖 sin 𝜃𝐵𝑖
𝐵
●
𝑥𝑏 Velocity component along 𝑦𝐵 , 𝑥ሶ 𝑐𝑖 sin 𝜃𝐵𝑖 + 𝑦ሶ 𝑐𝑖 cos 𝜃𝐵𝑖
} ---(2)
𝐵𝑣 cos 𝜃𝐵𝑖 − sin 𝜃𝐵𝑖 𝑥ሶ 𝑐𝑖
. 𝐶𝑖 =
sin 𝜃𝐵𝑖 cos 𝜃𝐵𝑖 𝑦ሶ 𝑐𝑖
𝑥𝑐𝑖ሶ - Longitudinal velocity
𝑦𝑐𝑖ሶ - Lateral Velocity
𝜃𝐵𝑖 - Angle between the vehicle frame (B) to the wheel frame (ci ).
𝐶𝑖 𝑣 - Linear velocity vector of 𝑐 with respect to the frame of 𝑐
. 𝐶𝑖 𝑖 𝑖
𝐵
.𝑣𝐶𝑖 - Linear velocity vector of 𝑐𝑖 with respect to the frame B
𝐵
𝑐𝑖 𝑅(𝜃𝐵𝑖 ) –Rotation Matrix
The frame B and Ci are part of a single body, thus if B is rotated Ci also will be rotated
If u, v, r are the instantaneous velocities at B
From Fig. we can write,
𝑣
Velocity component along 𝑥𝐵 = 𝑢 − 𝑟𝑑𝑦𝑖
𝑟𝑑𝑥𝑖
Velocity component along 𝑦𝐵 =𝑣 + 𝑟𝑑𝑥𝑖
} --- (3)
𝑥𝑐𝑖
𝑟𝑑𝑦𝑖 ●𝑐
𝜃𝐵𝑖
𝑖 𝑢
𝐵𝑣 1 0 −𝑑𝑦𝑖 𝑢
. 𝐶𝑖 = 𝑣
0 1 𝑑𝑥𝑖 𝑟
𝑑𝑦𝑖
𝑣 Equating 2 & 3,
𝑦𝑏 r 𝑢 − 𝑟𝑑𝑦𝑖 = 𝑥ሶ 𝑐𝑖 cos 𝜃𝐵𝑖 − 𝑦ሶ 𝑐𝑖 sin 𝜃𝐵𝑖
𝐵
●
𝑥𝑏
𝑢
𝑣 + 𝑟𝑑𝑥𝑖 = 𝑥ሶ 𝑐𝑖 sin 𝜃𝐵𝑖 + 𝑦ሶ 𝑐𝑖 cos 𝜃𝐵𝑖
} --- (4)
𝑑𝑥𝑖
By Matrix operation
𝑢 𝑥ሶ
𝑣 = 𝐴−1 𝑦ሶ
𝑟 𝜓ሶ
𝑢 cos 𝜓 𝑠𝑖𝑛 𝜓 0 𝑥ሶ
𝑣 = − sin 𝜓 cos 𝜓 0 𝑦ሶ
𝑟 0 0 1 𝜓ሶ