Title :
Mobility augmentation of conventional wheeled bases for omnidirectional motion
Author :
Jung, Myung-Jin ; Kim, Jong-Hwan
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
fDate :
2/1/2002 12:00:00 AM
Abstract :
Presents the mobility augmentation method to provide omnidirectional mobility to nonomnidirectional wheeled bases. First, the kinematic model of a nonomnidirectional wheeled base and a link combined by an extra revolute/prismatic joint to the base is derived in a matrix-vector form. Then it is shown that, if the kinematic model satisfies some structural conditions, the link motion can be omnidirectional. The structural conditions for omnidirectional motion are derived and several examples are provided to demonstrate the method
Keywords :
matrix algebra; mobile robots; robot kinematics; vectors; conventional wheeled bases; kinematic model; link motion; matrix-vector form; mobility augmentation; onmidirectional motion; prismatic joint; revolute joint; structural conditions; Actuators; Deformable models; Mobile robots; Orbital robotics; Robot kinematics; Robot motion; Robotics and automation; Tires; Traction motors; Wheels;
Journal_Title :
Robotics and Automation, IEEE Transactions on
