A mobility analysis method of closed-chain mechanisms with over-constraints and non-holonomic constraints

Author

Kim, Wheekuk ; Choi, Kiyoung ; Yi, Byung-Ju

Author_Institution

Dept. of Control & Instrum. Eng., Korea Univ., Chungnam, South Korea

Volume

3

fYear

2004

fDate

26 April-1 May 2004

Firstpage

2801

Abstract

Mobility for a great portion of robot mechanisms having over-constraint and non-holonomic constraints has not been clearly identified. This work us to introduce a method of mobility analysis for such systems using the concept of representative screws and pseudo-joint. The pseudo-joint is employed to effectively represent the real motion trajectory due to the rolling contact of the wheel. To show the validity and effectiveness of the proposed method, mobility of various types of planar mobile robots having over-constraint and non-holonomic constrains are examined.

Keywords

constraint handling; mobile robots; closed-chain mechanisms; mobility analysis method; nonholonomic constraints; over-constraints; planar mobile robots; pseudojoint; real motion trajectory; robot mechanisms; rolling contact; Computer science; Concurrent computing; Fasteners; Instruments; Kinematics; Mobile robots; Motion analysis; Research and development; Shape; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1307485

Filename

1307485