Title :
Maneuvering Strategies for Four-Wheel Drive, Four-Wheel Steer Mobile Robots Using Curvatures Based on Weingarten-Maps
Author :
Yalcin, M. Kursat ; Yesiloglu, S. Murat ; Dal, Mustafa ; Temeltas, Hakan
Author_Institution :
Dept. of Electr. Eng., Istanbul Tech. Univ.
Abstract :
Using the method known as Weingarten map, instantaneous center of rotation (ICR) of a four-wheel-drive & four-wheel-steer (4WD/4WS) mechanism is obtained for a predefined path. Kinematical model is obtained based on multiple manipulators with constraints on a common base approach
Keywords :
matrix algebra; mobile robots; robot kinematics; Weingarten-maps; four-wheel drive; four-wheel steer mobile robots; instantaneous center of rotation; kinematical model; maneuvering strategies; multiple manipulators; Automobiles; Kinematics; Manipulators; Mobile robots; Shape; Stability; Trajectory; Vehicles; Wheels;
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
Print_ISBN :
1-4244-0390-1
DOI :
10.1109/IECON.2006.347806
