Cinemática y Dinámica de Robots Móviles con Ruedas

Robotics has significantly influenced the development of society over time. The field of robotics requires the collaboration of numerous scientific disciplines, including mechanical engineering, electrical and electronic engineering, control engineering, computer engineering, sensor engineering and automation. Most mobile robots in this field are wheel-driven. They are applied where humans have never been (such as on other planets), where they cannot be (such as in hazardous or contaminated areas) and where humans need support and assistance wheeled mobile robots leave traces. Mobile robots are useful in the event of a disaster, as they can be used for reconnaissance, hazardous material detection, and rescue activities. As floor cleaners and robotic lawn mowers, these robots have already made their way into our homes as well as into numerous industrial facilities as autonomously guided vehicles. In addition, they are used as prototypes for autonomous cars in normal traffic, and it is expected that many new applications for autonomous wheeled mobile robots will emerge in the near future, some of which may be unexpected. This book provides a complete and unified description of wheeled mobile robots. Various kinematic and dynamic models required for the design of control laws based on mathematical models are presented and issues related to actuation (motors) and sensing (sensors and measurements) of their structures are discussed. One of the key strengths of the book is its focus on practical applications where solutions and excerpts from Matlab code lists are included. These code lists guide the reader to test, evaluate and modify the algorithms in their respective fields. Overall, "Kinematics and Dynamics of Wheeled Mobile Robots" is an indispensable resource for anyone interested in the mathematical modeling of mobile robots. It provides a thorough introduction to the fundamental concepts of kinematics, dynamics, and control and applies them to the unique challenges posed by wheeled mobile robots. Each chapter is written in an accessible manner. Chapter 1 examines the current state of the art of various design considerations for mobile robots, basic and general definitions, and the most significant technological developments that have contributed to the body of knowledge in this field. The locomotion strategy of wheel-based terrestrial mobile robots is examined in greater detail in Chapter 2, with some general aspects of tracked locomotion and hybrid configurations involving wheels discussed at the end of the chapter. In addition, the operation of the different types of wheels used in the construction of mobile robots is described, as well as the kinematic configurations in the design of these robots, and examples of practical applications developed to date. Chapter 3 presents the mathematical notation for expressing the motion of mobile robots with wheels in a global reference frame and its own local reference frame. The formal description and combi.