DocumentCode
1864368
Title
The kinematic design of a 3-DOF isotropic mobile robot
Author
Saha, Subir Kumar ; Angeles, Jorge ; Darcovich, John
Author_Institution
Toshiba Corp., Kawasaki, Japan
fYear
1993
fDate
2-6 May 1993
Firstpage
283
Abstract
Automatic guided vehicles with omnidirectional wheels have three degrees of freedom (DOF). Their full mobility is obtained by virtue of the free rollers around the periphery of the wheels. The choice of the orientation of the roller axes with respect to the wheel axis, along the wheel orientations with respect to the platform, the number of wheels, etc., are considered. A design approach based on the isotropy of the underlying Jacobian matrices is reported
Keywords
automatic guided vehicles; kinematics; matrix algebra; mobile robots; 3-DOF isotropic mobile robot; Jacobian matrices; automatic guided vehicles; free rollers; kinematic design; number of wheels; omnidirectional wheels; roller axes; wheel axis; wheel orientations; Bicycles; Gears; Jacobian matrices; Mechanical engineering; Mobile robots; Orbital robotics; Remotely operated vehicles; Robot kinematics; Roundoff errors; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.291996
Filename
291996
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