Robotics
By Sébastien Boisgérault, MINES ParisTech
November 8, 2017
Contents
A mix of mechanical engineering and control theory.
Presentations & Lecture Notes
Slides for some MAREVA1 courses.
On Wheels
The only wheels considered in the document Elements of Lagrangian Mechanics - Applications to Mobile Robotics are either fixed or orientable with a swivel axis that goes through the wheel center. Why? Because these wheels add kinematics constraints to the mobile robot and restrict its possible trajectories.
It is sometimes necessary to use wheels that do not have this unfortunate effect; this is for example mandatory to design omnidirectional robots. Two example categories are caster wheels and swedish (or Mecanum) wheels:
Control Theory
Some ISIA2 courses (in French).