Introduction to locomotor

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Introduction to locomotor

  1. 1. INTRODUCTION TOMobile Robot LocomotionAditya KurniawanMechatronics EngineeringPOLTEKOM 2010Aditya.mekatronika@gmail.comADITYT
  2. 2. WHAT IS A ROBOT? ROBOT is an electromechanical (mechatronic) systemwith sensing, intelligence, or mobility To be qualified as a robot, a machine has to be able to:1) Sensing and perception: get information from its surroundings2) Carry out different tasks: Locomotion or manipulation, dosomething physical–such as move or manipulate objects3) Re-programmable: can do different things4) Function autonomously and interact with human beingsMOBILEROBOTS
  3. 3.  Wheeled mobile robots Legged robots Aerial robots (UAVs) / Unmanned Aerial Vehicles) Underwater robots Humanoid robotsType of Mobile RobotMOBILEROBOTS
  4. 4. Basic of Mobile Robot• POSITION Principle in mobile robotPosition is a 2 dimensional plane on a cartesian axes whichcould be defined from its value stated on each axes (X,Y)ReferencelineMOBILEROBOTS
  5. 5. Mobile Based Robot• POSITION of mobile robotPOSITION : (X,Y)MOBILEROBOTS
  6. 6. Basic of Mobile Robot• ORIENTATION Principle in mobile robotOrientation is a degree on a dimensional plane on a cartesianaxes which could be defined as degree range from 0-360ReferencelineMOBILEROBOTS
  7. 7. Mobile Based Robot• ORIENTATION of mobile robotPOSITION : (Φ)MOBILEROBOTS
  8. 8. Mobile Based Robot• POSTURE of mobile robotPosture is a mobile robot dimensional statement thatstate both a POSITION, and an ORIENTATIONPOSTURE : (X,Y,Φ)
  9. 9. Mobile Based Robot• POSTURE of mobile robotExample :POSTURE : (X2,Y3, Φ 45˚)
  10. 10. Basic of Mobile Robot• ORIENTATION Principle in mobile robotOrientation is a degree on a dimensional plane on a cartesianaxes which could be defined as degree range from 0-3602345 ˚
  11. 11. Basic of Mobile Robot• ORIENTATION Principle in mobile robotOrientation is a degree on a dimensional plane on a cartesianaxes which could be defined as degree range from 0-3602345 ˚
  12. 12. Basic of Mobile Robot• ORIENTATION Principle in mobile robotOrientation is a degree on a dimensional plane on a cartesianaxes which could be defined as degree range from 0-360Center ofposition
  13. 13. Basic of Mobile Robot• Motion parameter on mobile roboticWheel distance
  14. 14. Basic of Mobile Robot• Motion parameter on mobile roboticWheel diameter
  15. 15. Basic of Mobile Robot• Motion parameter on mobile roboticRotational speed
  16. 16. Basic of Mobile Robot• Arc on the wheelArcΦ
  17. 17. Mobile Based Robot• Motion principle
  18. 18. • Motion principleLinier motion (linier disposition)Circular motionMobile Based RobotCenter motion
  19. 19. • Type of wheeled mobile robotMobile Based Robot Smooth motion Risk of slipping Some times use roller-ballto make balanceBi-wheel type robotOmnidirectional robotCaterpillar type robot Exact straight motion Robust to slipping Inexact modeling of turning Free motion Complex structure Weakness of the frame
  20. 20. Mobile Based RobotFixed wheel Centered orientable wheelOff-centered orientable wheel(Castor wheel) Swedish wheel:omnidirectionalproperty
  21. 21. Mobile Based Robot

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