The Kinematics for Redundantly Actuated Omnidirectional Mobile Robots
- Title
- The Kinematics for Redundantly Actuated Omnidirectional Mobile Robots
- Author
- 이병주
- Issue Date
- 2002-06
- Publisher
- JOHN WILEY & SONS INC
- Citation
- Journal of Robotic Systems, v. 19, issue. 6, page. 255-267
- Abstract
- Omnidirectional mobile robots have been popularly employed in several application areas. However, the kinematics and singularity analysis for these systems have not been clearly identified, especially for the redundantly actuated case, which is common in current omnidirectional mobile robots. In light of this fact, this article introduces two different kinematic approaches for a typical omnidirectional mobile robot having three caster wheels, and examines singularity configurations of such systems. Then, a singularity‐free load‐distribution scheme for a redundantly actuated three‐wheeled omnidirectional mobile robot is proposed. Through simulation, several advantages of the redundantly actuated mobile robot (singularity avoidance, input‐load saving, and exploiting several subtasks) are presented.
- URI
- https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.10039https://repository.hanyang.ac.kr/handle/20.500.11754/157044
- ISSN
- 1556-4967; 0741-2223
- DOI
- 10.1002/rob.10039
- 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