Design of an Omni-directional Mobile Robot with 3 Caster Wheels
- Title
- Design of an Omni-directional Mobile Robot with 3 Caster Wheels
- Author
- 양성일
- Keywords
- design; isotropic index; kinematic analysis; mobile robot
- Issue Date
- 2001-12
- Publisher
- 제어로봇시스템학회
- Citation
- Transaction on Control, Automation and Systems Engineering, v. 3, no. 4, page. 210-216
- Abstract
- In this paper, design of a 3-degree-of-freedom mobile robot with three caster wheels is performed. Initially, kinematic modeling and singularity analysis of the mobile robot is performed. It is found that the singularity can be avoided when the robot has more than two wheels on which two active joints arc located. Optimal kinematic parameters of mobile robots with three active joint variables and with four active joint variables arc obtained and compared with respect to kinematic isotropic index of the Jacobian matrix of the mobile robot which is functions of the wheel radius and the length of steering link.
- URI
- https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01958703?https://repository.hanyang.ac.kr/handle/20.500.11754/160482
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML