Most minirobot platforms have the ability to perform translational and rotational motions in a decoupled way. This is an important feature, which allows the robot to go to any desired position and/or orientation. However, in practice, real robot motions are far from accurate, and control strategies using either internal or external sensors must be implemented, e.g. to achieve a straight trajectory. Such a trajectory is very helpful in structured environments like rooms and corridors. The author presents a mechanical design, with a moderate complexity, which is capable of making the robot go straight while still allowing it to turn in place. The resulting robot is a differential drive design, where motors do not drive directly the wheels: one of them makes the robot move forward or backward, and the other motor makes it turn in place. Of course, both motors can be run simultaneously. Experiments demonstrate the feasibility of the design, and the quality of the achieved trajectories. This platform considerably alleviates the difficulties of robot control. allowing the user to concentrate in higher level tasks.
Going straight: a lego-based minirobot drive system
2001
10 Seiten, 6 Bilder, 1 Tabelle, 8 Quellen
Conference paper
English
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