Modeling of skid-steer mobile manipulators using spatial vector algebra and experimental validation with a compact loader

Sergio Aguilera, Miguel Torres-Torriti, Fernando Auat

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

The present work models the dynamics of general skid-steer mobile manipulators using the formalism and tools of the spatial vectors algebra introduced by Featherstone. The model built is validated using inertial measurements obtained during field tests with a compact skid-steer loader. The paper demonstrates the benefits of using the spatial vector algebra formulation, showing that this modeling approach allows to integrate traction forces and study the arm-vehicle, as well as vehicle-ground interactions in a single model. This feature is not possible with many other of the existing modeling approaches and simulation tools, thus opens the way to research on mechanically more complex robot designs and their controllers. It is to be noted that most of the existing models and simulations of mobile manipulators consider two-wheeled differentially driven bases and avoid accurate models of skid-steering bases because of the complexity of simulating wheels that skid while rolling. However, skid-steer traction is common in most of the industrial construction and mining machinery because of their simpler mechanics, high reliability, and better mobility in rough terrains. Hence, the development of physically accurate models of skid-steer manipulators is fundamental. We chose to validate the model using a Cat®262C compact-skid steer loader instead of a small mobile manipulator common in robotics research laboratory to highlight the usefulness of the presented model and the spatial vector algebra approach.

Original languageEnglish
Title of host publication2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
Pages1649-1655
Number of pages7
ISBN (Electronic)9781479969340
DOIs
Publication statusPublished - 6 Nov 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems - Chicago, United States
Duration: 14 Sept 201418 Sept 2014

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2014
Country/TerritoryUnited States
CityChicago
Period14/09/1418/09/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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