Kinematic Modeling of Mobile Robots by Transfer Method of Augmented Generalized Coordinates
- Title
- Kinematic Modeling of Mobile Robots by Transfer Method of Augmented Generalized Coordinates
- Author
- 이병주
- Keywords
- mobile robot; kinematic modeling; kinematics
- Issue Date
- 2001-05
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), v. 3, page. 2413-2418
- Abstract
- A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models. The kinematic models derived by the direct inverse of the augmented matrices provide an accurate solution, which was not achievable by the modeling method based on the pseudo-inverse method which provides an approximate solution. Lastly, two kinematic models for typical, differential-driven mobile robots are presented to show the effectiveness of the proposed modeling method.
- URI
- https://ieeexplore.ieee.org/document/932983https://repository.hanyang.ac.kr/handle/20.500.11754/158553
- ISBN
- 0-7803-6576-3
- ISSN
- 1050-4729
- DOI
- 10.1109/ROBOT.2001.932983
- 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