Slip modelling, detection and control for redundantly actuated wheeled mobile robots

This paper presents a comprehensive methodology (modelling, detection, and control) for tackling slip problems in redundantly actuated wheeled mobile robots. A new concept, ldquoslip velocityrdquo, is introduced for the purpose of enlarging the robotspsila kinematic model by including slip modelling. Our simple and yet effective slip detection scheme is based on the sensing redundancy of the system. The slip control scheme is based on the relationship between slip velocity and its associated constraint force. The effectiveness of the proposed slip detection and slip control schemes is demonstrated with experimental results. For the first time, experimental results of a force controlled wheeled mobile robot with the proposed schemes implemented is presented. The proposed schemes can be applied to both mobile robots and mobile manipulation systems.