DocumentCode
2188411
Title
Kinematic modelling of a class of omnidirectional mobile robots
Author
Bétourné, Alain ; Campion, Guy
Author_Institution
C.E.S.A.M.E., Univ. Catholique de Louvain, Belgium
Volume
4
fYear
1996
fDate
22-28 Apr 1996
Firstpage
3631
Abstract
This paper is devoted to the kinematic analysis of mobile robots equipped with centred orientating wheels. The problems of mobility and directionality are addressed and it is shown that such robots are omnidirectional. A state space formulation is proposed allowing it to describe the robot motion, even in the neighbourhood of singular configurations
Keywords
mobile robots; modelling; motion control; redundancy; robot kinematics; state-space methods; centred orientating wheels; directionality; kinematic modelling; mobility; omnidirectional mobile robots; redundancy; singular configurations; state space formulation; Equations; Mobile robots; Parallel robots; Robot kinematics; Wheels; Zirconium;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.509266
Filename
509266
Link To Document