Design and analysis of 3 DOF mobile robot traveling simulator using optical mice

摘要

This paper presents the design and analysis of 3 DOF mobile robot traveling simulator using three optical mice. In the proposed mobile robot traveling simulator, a traveling surface sample is rotating relative to stationary optical mice, instead of a mobile robot equipped with optical mice moving over a traveling surface. And, different velocities of a mobile robot can be simulated by changing the positions and orientations of optical mice installed on a stationary surface. First, the operational principle of the mobile robot traveling simulator is explained. Second, the design for 3 DOF mobile robot traveling simulator is proposed, in which the installation distances of two optical mice can be changed, as well as the installation angles of three optical mice. Third, the velocity kinematics of the mobile robot traveling simulator is derived, relating the velocity of a mobile robot and the velocities of optical mice. Fourth, the parameter setting of the mobile robot traveling simulator is described, according to the velocity of a mobile robot under simulation. Finally, simulation results are given to demonstrate the validity of the optical mouse based mobile robot traveling simulator.