Experiments

The University of Wuerzburg will provide two tele-experiments:

• This experiment should help to understand indispensable basics of the mobile robots' kinematics. It provides the background for the Remote Kinematics Experiment in the Virtual Laboratory established at the University of Würzburg. In this context the car-like robot MERLIN (Mobile Experimental Rover for Locomotion and Intelligent Navigation) is employed. Exercises are constructed in order to show to the student most of the non-idealities of the real hardware. Obtained data can be easily used for accuracy improvement by high precision mathematical model building. It has a key role in the all high tech solutions like industrial robots, spacecrafts, aircrafts, and military industry.
• The experiment uses a nonholonomic car-like mobile robot with an Ackerman-steering and demonstrates the problems of the inverse kinematics of this kind of mobile robot. Basic motions are combined to primitive maneuvers, like three-point-turn and sidewise shifting. The next step is the combination of primitive maneuvers to complex maneuvers for achieving a certain configuration. This experiment shows how to combine primitive maneuvers in order to solve the inverse kinematics problem, and gives a detailed description of these maneuvers.