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Design of an Omni-directional Mobile Robot with 3-Caster Wheels

Title
Design of an Omni-directional Mobile Robot with 3-Caster Wheels
Author
이병주
Keywords
design; isotropic index; kinematic analysis; mobile robot
Issue Date
2001-12
Publisher
Institute of Control, Robotics and Systems
Citation
Transaction on Control, Automation and Systems Engineering, v. 3, no. 4, page. 210-216
Abstract
In this paper, design of a 3-degree-of-freedom mobile robot with three caster wheels is performed. Initially, kinematic modeling and singularity analysis of the mobile robot is performed. It is found that the singularity can be avoided when the robot has more than two wheels on which two active joints are located. Optimal kinematic parameters of mobile robots with three active joint variables and with four active joint variables are obtained and compared with respect to kinematic isotropic index of the Jacobian matrix of the mobile robot which is functions of the wheel radius and the length of steering link.
URI
https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01958703https://repository.hanyang.ac.kr/handle/20.500.11754/160485
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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