대표 스크류를 이용한 평면형 및 험로 주행로봇의 모빌리티 분석

Abstract

Mobility analysis for various mobile mechanisms including mechanisms with lack of geometric generality is performed. Joint screws are employed to find the size of feasible joint motion space of each of independent loops of mobile mechanisms. Particularly, the concept of "representative screws" is introduced to represent the feasible motion spaces for subsets of joints belonging to either a loop or a sub-system consisting of several closed loops. Firstly, simplified joint model for each of four different typical wheels popularly employed in mobile robots is described Then, mobility analysis for various types of planar mobile robots and the Mars Rover mobile robot for navigation on the rocky road on Mars are performed. It is confirmed that the obtained results in this study coincide with the previous ones which were obtained by using imaginary joints approach