Calibration for mobile robots with an invariant Jacobian

Authors:
Joaquim A. Batlle;Josep M. Font-Llagunes;Ana Barjau
Affiliations:
Department of Mechanical Engineering, Universitat Politècnica de Catalunya, Diagonal 647, 08028 Barcelona, Spain;Department of Mechanical Engineering, Universitat Politècnica de Catalunya, Diagonal 647, 08028 Barcelona, Spain;Department of Mechanical Engineering, Universitat Politècnica de Catalunya, Diagonal 647, 08028 Barcelona, Spain
Venue:
Robotics and Autonomous Systems
Year:
2010

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Abstract

The kinematics of some mobile robots is described through a strictly invariant Jacobian matrix [J]. This is the case for robots with three degrees of freedom and suitable omnidirectional wheels, and that for robots with conventional wheels and differential kinematics. This article proposes a calibration technique for the matrix [J] of such robots. It is based on four accurate configuration measurements associated with particular nominal motions where the generalized velocities maintain a constant proportional relationship. As a consequence, the nominal trajectories are arcs of circumference and may be part of the actual trajectories of the robot. An application example is presented.