Regular Papers
International Journal of Control, Automation and Systems 2009; 7(6): 962-970
Published online December 6, 2009
https://doi.org/10.1007/s12555-009-0613-x
© The International Journal of Control, Automation, and Systems
Screw-Based Kinematic Modeling and Geometric Analysis of Planar Mobile Robots
Typical mobile robots can be modeled as parallel mechanisms by employing an interfacing variable between the ground and the wheels. Based on this conception, the screw theory was employed in the following work as an alternative approach in the modeling of such parallel-natured mobile robots. This theory allows for a geometric analysis of mobile mechanisms. As a result, the computational load in the derivation of a Jacobian model can be reduced, the kinematic model for different sets of inputs can be easily obtained, and an equivalent serial-chain model can be analyzed. Two mobile robots were examined as exemplary models. The proposed approach can also be applied to kinematic modeling and the analysis of general types of mobile robots.
Keywords Mobile robot, parallel mechanism, redundant actuation, screw theory.
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Regular Papers
International Journal of Control, Automation and Systems 2009; 7(6): 962-970
Published online December 1, 2009 https://doi.org/10.1007/s12555-009-0613-x
Copyright © The International Journal of Control, Automation, and Systems.
Screw-Based Kinematic Modeling and Geometric Analysis of Planar Mobile Robots
Byung-Ju Yi, Whee Kuk Kim*, and Seje Oh
Korea University, Korea
Abstract
Typical mobile robots can be modeled as parallel mechanisms by employing an interfacing variable between the ground and the wheels. Based on this conception, the screw theory was employed in the following work as an alternative approach in the modeling of such parallel-natured mobile robots. This theory allows for a geometric analysis of mobile mechanisms. As a result, the computational load in the derivation of a Jacobian model can be reduced, the kinematic model for different sets of inputs can be easily obtained, and an equivalent serial-chain model can be analyzed. Two mobile robots were examined as exemplary models. The proposed approach can also be applied to kinematic modeling and the analysis of general types of mobile robots.
Keywords: Mobile robot, parallel mechanism, redundant actuation, screw theory.
Vol. 22, No. 9, pp. 2673~2953
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