Vision-based motion analysis and deflection measurement of a robot's crawler unit
Piotr Kohut, Krzysztof Kurc, Dariusz Szybicki, Witold Cioch, Rafał Burdzik · Journal of Vibroengineering · 2015
This paper presents an approach to modeling the slippage of a robot’s rubber tracks moving on a non-deformable surface. A single horizontal deflection of a one-track lug is considered. The issue is modeled by FEM and verified by track lug deflection measurement and trajectory motion analysis. As a measurement device, a vision system is developed and configured. The vision-based measurement method can be considered as a new approach for estimating a robot’s track slippage.