Title :
Kinematic modelling of a class of omnidirectional mobile robots
Author :
Bétourné, Alain ; Campion, Guy
Author_Institution :
C.E.S.A.M.E., Univ. Catholique de Louvain, Belgium
Abstract :
This paper is devoted to the kinematic analysis of mobile robots equipped with centred orientating wheels. The problems of mobility and directionality are addressed and it is shown that such robots are omnidirectional. A state space formulation is proposed allowing it to describe the robot motion, even in the neighbourhood of singular configurations
Keywords :
mobile robots; modelling; motion control; redundancy; robot kinematics; state-space methods; centred orientating wheels; directionality; kinematic modelling; mobility; omnidirectional mobile robots; redundancy; singular configurations; state space formulation; Equations; Mobile robots; Parallel robots; Robot kinematics; Wheels; Zirconium;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.509266
