DocumentCode
1864869
Title
Structural properties and classification of kinematic and dynamic models of wheeled mobile robots
Author
Campion, G. ; Bastin, G. ; Andréa-Novel, B.D.
Author_Institution
Centre for Syst. Eng. & Appl. Mech., Univ. Catholique de Louvain, Belgium
fYear
1993
fDate
2-6 May 1993
Firstpage
462
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 the generic structures of the model equations. For each class, problems of irreducibility of the model, configuration of the motorization and feedback equivalence are addressed
Keywords
control system analysis; dynamics; feedback; kinematics; mobile robots; dynamic models; feedback equivalence; generic structures; kinematic models; wheeled mobile robots; Controllability; Equations; Feedback; Mechanical factors; Mechanical systems; Mobile robots; Prototypes; Robot kinematics; Systems engineering and theory; 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.1993.292023
Filename
292023
Link To Document