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네 개의 고정 바퀴가 장착된 자동차 구조 평면형 모바일 로봇의 기구학 모델링

Title
네 개의 고정 바퀴가 장착된 자동차 구조 평면형 모바일 로봇의 기구학 모델링
Other Titles
Kinematic Modeling of a Car-like Planar Mobile Robot with Four Fixed Wheels
Author
이병주
Keywords
Mobile robot(모바일 로봇); Kinematic model(기구학 모델); Translational friction motion(미끄럼 마찰 운동)
Issue Date
2002-07
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v. 19, no. 7, page. 28-35
Abstract
This paper deals with kinematic modeling of a car-like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. The kinematic model of such a mobile robot requires the description of skidding and sliding frictional motion. Previous kinematic model proposed by Muir and Newmanri] does not include such frictional motions. Thus, does it result in least square solution in estimating a sensed forward velocity solution. A modified kinematic model is proposed by incorporating translational friction motion into the original algorithm. It is shown that translational friction motions should be included into kinematic model of the mobile robot to represent its real physical motion.
URI
http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00853805?https://repository.hanyang.ac.kr/handle/20.500.11754/157622
ISSN
1225-9071; 2287-8769
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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