Title :
A kinematic modeling method for a wheeled mobile robot
Author :
Chang, Yong ; Ma, Shugen ; Wang, Hongguang ; Tan, Dalong
Author_Institution :
State Key Lab. of Robot., Chinese Acad. of Sci., Shenyang, China
Abstract :
This paper presents a modeling method called "Wheel-Center Modeling" for kinematics of a wheeled mobile robot that moves on uneven terrain. The technique is verified by analyzing the special locomotion characteristics of the multi-rigid body and wheels of a wheeled mobile robot. A six-wheeled mobile robot with the called "Rocker-bogie" suspension has been modeled by using this method. The proposed method was verified by simulation where the robot moves on a flat plane.
Keywords :
legged locomotion; robot kinematics; suspensions (mechanical components); kinematic modeling method; locomotion characteristics; multirigid body; rocker-bogie suspension; wheel-center modeling; wheeled mobile robot; Kinematics; Mobile robots; Kinematic modeling; Kinematics; Wheeled mobile robot;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246109
