Mobile Robot Experimental Analysis Based on Kinematics

This article presents a new methodology for measuring amount of errors in wheeled robots. Here a four-wheeled robot is tested and corrected using a new benchmark method that called “YMB mark”. This manner treats the systematic errors during the structural design and based on kinematics equations. Because the effect of design process, type of modeling and robot controller on these errors, first the overall design is investigated. Thus the kinematics and dynamic equations of final design are derived in a symbolic form. In order to validate the derived equations, the consequences of simulation in Maple and Working Model softwares are carried out. Finally, the robot is moved in some trajectories for determining the systematic errors. Key-Words: Mobile robot, Modeling, Simulation, Odometry Test, YMB Mark Method