DocumentCode
1245162
Title
Structural properties and classification of kinematic and dynamic models of wheeled mobile robots
Author
Campion, Guy ; Bastin, Georges ; D´Andréa-Novel, Brigitte
Author_Institution
Centre for Syst. Eng. & Appl. Mech., Univ. Catholique de Louvain, Belgium
Volume
12
Issue
1
fYear
1996
fDate
2/1/1996 12:00:00 AM
Firstpage
47
Lastpage
62
Abstract
The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomy, mobility and controllability, configuration of the motorization, and feedback equivalence
Keywords
mobile robots; robot dynamics; robot kinematics; controllability; dynamic model classification; feedback equivalence; holonomy; kinematic model classification; mobility; motor configuration; reducibility; structural properties; wheeled mobile robots; Controllability; Equations; Feedback; Kinematics; Mechanical systems; Mobile robots; Orbital robotics; Robotics and automation; State-space methods; Wheels;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.481750
Filename
481750
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