Passive Control in Mobile Robots via Suspension Design

Abstract

Abstract In this paper, the role of dynamic coupling effects in mobile robotic systems is investigated. For this study, the equations of motion for a rigid-body model of a single-linked mobile robot are derived using Lagrangian dynamics. As possible passive control elements, various spring-damper combinations for the vehicle’s suspension system are applied to the model. Analysis and design of the passive controller is executed with implementation of a computer simulation based algorithm and performance measures. The algorithm is based on the differences between the coupled and decoupled models of the mobile robotic system. The decoupled model is one in which the mobile robot is modeled as two isolated subsystems, arm and vehicle. Subsequent to the computer simulation, the appropriate passive control elements and system parameters and trajectory selections for the elimination of the instability and inaccuracies due to dynamic coupling are recommended. Via this approach in reducing the dynamic coupling effects, it is predicted that the system’s existing active controller will be able to more effectively control the system at much higher speeds and for a larger number of applications than before. That is, the arm will not have to be held stationary while the vehicle is moving or vice versa.