Title :
Kinematic modelling and analysis of mobile robots with omni-directional wheels
Author :
Leow, Y.P. ; Low, K.H. ; Loh, W.K.
Author_Institution :
Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore
Abstract :
This paper focuses on the kinematic modelling, mobility analysis and design of an omni-directional wheeled mobile robots (OWMRs). The composite kinematic models of a wheeled mobile robot (WMR)-a WMR is a collection of the platform and the wheel sub-systems-with a platform equipped with three omni-directional wheels is formulated. The analysis on the mobility of a WMR is carried out using the functional matrix. It is shown that a WMR with three omni-directional wheels has a mobility of three. A prototype of a WMR with three omni-directional wheels are designed, built and tested successfully.
Keywords :
control system synthesis; mobile robots; robot kinematics; functional matrix; kinematic modelling; mobile robots; omni-directional wheels; wheel sub-systems; wheeled mobile robot; Equations; Mathematical model; Mobile robots; Paper technology; Production engineering; Prototypes; Robot kinematics; Robot sensing systems; Testing; Wheels;
Conference_Titel :
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN :
981-04-8364-3
DOI :
10.1109/ICARCV.2002.1238528
