Title :
Geometric kinematics modeling of omni-directional autonomous mobile robot and its applications
Author :
Kim, Dong Sung ; Lee, Hyun Chul ; Kwon, Wook Hyun
Author_Institution :
Eng. Res. Center for Adv. Control Instrum., Seoul Nat. Univ., South Korea
Abstract :
A geometric kinematics modeling of a three wheeled autonomous mobile robot is proposed. Three types of basic motions are proposed for the path generation of the developed mobile robot. All paths of the mobile robot are achieved by the combination of proposed basic motions. The proposed scheme is verified through computer simulations and a practical model
Keywords :
digital simulation; geometry; mobile robots; path planning; robot kinematics; basic motions; geometric kinematics modeling; omni-directional autonomous mobile robot; path generation; three wheeled autonomous mobile robot; Architecture; Computer simulation; Gears; Instruments; Kinematics; Mobile robots; Servomotors; Solid modeling; Synchronous motors; Wheels;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846328
