Modelo cinemático inverso para robot móvil diferencial Pioneer utilizando software Coppelia.

Abstract

In this video describes the design of a circular path of a simulated Pioneer 3 Robot in the CoppeliaSim integrated development environment, based on the inverse kinematics model for differential mobile robots. The CoppeliaSim software is frequently used in engineering due to its ease of describing and behaving in robots without the need for their physical presence, giving its platform the possibility of simulating real robots for different applications such as tracking and path planning and validating programmed behavior transferring them to the real robot [1] [2]. In mobile robotics, the inverse kinematic model allows describing the movement of the autonomous vehicle, looking for the values of its actuators based on a desired path. This model can be studied from any type of robot, with the use of differential traction wheels being one of the most studied for its simplicity, facilitating its use in everyday environments such as warehouses, offices, houses, among others [3]. The navigation system implemented in this video for the Pioneer 3 Robot is based on the inverse kinematic model of the propulsion system that determines the model from the configuration of the actuators that allow the robot to move freely in an environment, due to the fact that It works on a two-wheel robot with differential traction where its direction and trajectory are given by the difference in the speeds of said wheels independently, giving the robot traction and direction [4]. For this work, physical parameters of the robot were obtained such as the size of the wheels and the distance between them, the current position of the vehicle was also calculated in a two-dimensional coordinate system. The path sought is circular in nature, the points x, y being represented in a circle, with these parameters and knowing the equations of the kinematic model, the linear and angular velocity of the robot can be obtained. The path was programmed using Python.