Experimental slip estimation of three-link mobile wheeled robot

The paper considers an algorithm for determining a side slippage of the wheels of a mobile three-link robot using an optical motion capture system. The mobile three-link wheeled robot is a wheeled platform consisting of three interconnected equivalent links. The mobile three-link robot is driven by servos located in the joints of the links due to their coordinated periodic rotation. While the servos rotate uncoordinated during the movement of the mobile three-link robot, slippage may occur. The minimum estimated of slippage is a criterion for the correctness of the calculation and implementation of the control. The determination of slippage for a mobile three-link robot is carried out in operation due to the above technique using an optical motion capture system. In the future, the technique will be used to plan of motion of multi-link mobile robots.