여유구동을 지니는 전방향 모바일 로봇의 기구학 모델링 및 해석
- Title
- 여유구동을 지니는 전방향 모바일 로봇의 기구학 모델링 및 해석
- Other Titles
- Kinematic Modeling and Analysis of Omni-Directional Mobile Robots with Redundant Actuation
- Author
- 이병주
- Keywords
- Omni-directional; mobile robot; redundant actuation
- Issue Date
- 2001-09
- Publisher
- 제어로봇시스템학회
- Citation
- 제어로봇시스템학회 논문지, v. 7, no. 9, page. 766-773
- Abstract
- Omni-directional mobile robots have been popularly employed in several application areas. However, the kinematics for these systems have not been clearly identified, specially for redundantly actuated case which is common in omni-directional mobile robot such as Nomadic model. For such mobile robot systems, exploitation of redundant actuation as well as singularity analysis has not been extensively addressed. In light of this fact, this paper introduces two different kinematic approaches for omni-directional mobile robots. Then, a singular-free load distribution scheme for redundantly actuated three-wheeled omni-directional mobile robot is proposed. Through simulation, several advantages of redundantly actuated mobile robot in aspect of singularity avoidance, minimization of torque norm, and exploiting several subtasks are presented.
- URI
- https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01968615https://repository.hanyang.ac.kr/handle/20.500.11754/160165
- ISSN
- 1976-5622; 2233-4335
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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