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

Volume

18

Issue

1

fYear

2002

fDate

2/1/2002 12:00:00 AM

Firstpage

81

Lastpage

87

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;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.988977

Filename

988977