DocumentCode
309541
Title
Kinematics for modular wheeled mobile robots
Author
Burke, Thomas ; Durrant-Whyte, Hugh F.
Author_Institution
Dept. of Eng. Sci., Oxford Univ., UK
Volume
2
fYear
1993
fDate
26-30 Jul 1993
Firstpage
1279
Abstract
The kinematics for modular wheeled mobile robots is presented. Basic theory of planar motion is used to derive inverse and forward kinematics. The inverse kinematics is inherently modular, whereas the information form of a least-squares estimator is required to completely modularize the forward kinematics. An implementation is described and results are shown
Keywords
mobile robots; forward kinematics; information form; inverse kinematics; least-squares estimator; modular wheeled mobile robots; planar motion; Aluminum; Assembly; Costs; Drives; Kinematics; Mobile robots; Power distribution; Prototypes; Vehicles; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location
Yokohama
Print_ISBN
0-7803-0823-9
Type
conf
DOI
10.1109/IROS.1993.583750
Filename
583750
Link To Document