Dynamics Modeling of “CEDRA” Rescue Robot on Uneven Terrains

Abstract

In this paper an effective approach for kinematic and dynamic modeling of high mobility wheeled mobile robots (WMR) has been presented. As an example of these robots, the method has been applied on CEDRA rescue robot which is a complex, multibody mechanism. The model is derived for 6-DOF motions enabling movement in x, y, z directions, as well as pitch, roll and yaw rotations. Forward kinematics equations are derived using Denavit-Hartenberg method and the wheels Jacobian matrices. Moreover the inverse kinematics of the robot is obtained and solved for the wheel velocities and steering commands in terms of desired velocity, heading and measured link angles. Finally dynamical analysis of the rover has been thoroughly studied. Due to the complexity of this multi-body system especially on rough terrain, Kane’s method of dynamics has been used to model this problem. The approach has been developed in such a way that it can easily be extended to other mechanisms and rovers.