DOI QR코드

DOI QR Code

Kinematic Modeling of Mobile Robots by Transfer Method of Augmented Generalized Coordinates

확장된 좌표계 전환기법에 의한 모바일 로봇의 기구학 모델링

  • 김희국 (고려대학교 제어계측공학과) ;
  • 김도형 (삼성전자 메카트로닉스센터) ;
  • 이병주 (한양대학교 전자컴퓨터공학부)
  • Published : 2002.03.01

Abstract

A kinematic modeling method is proposed which models the sliding and skidding at the wheels as pseudo joints and utilizes those pseudo joint variables as augmented variables. Kinematic models of various type of wheels are derived based on this modeling method. Then, the transfer method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models of mobile robots. The kinematic models of five different types of planar mobile robots are derided to show the effectiveness of the proposed modeling method.

References

  1. 이승은, 김희국, 이병주, '평면형 모바일 로봇의 정속도 추정알고리듬,' ICCAS, 2001
  2. W. K. Kim, D. H. Kim, B.-J. Vi, and I .H. Suh, 'Design of omnidirectional mobile robot with 3 caster wheels,' IFAC Workshop on Mobile Robot Technology, pp. 97-103, May 20-23, 2001
  3. J. Agullo, S. Cardona, and J. Vivancos, 'Kinematics ofvehicles with directional sliding wheels,' Journal of Mech. Mach. Theory, vol. 22, no. 4, pp. 295-301, 1987 https://doi.org/10.1016/0094-114X(87)90018-8
  4. R. A. Freeman and D. Tesar, 'Dynamic modeling of serial and parallel mechanisms/robotics systems, Part I-methodology, Part II-Applications,' 20th biennial mechanism conf. vol. 15, no. 2, pp. 7-27, 1988
  5. G. Campion, G. Bastin, and B. D'Andrea-Novel, 'Structural properties and classification of kinematic and dynamic models of wheeled mobile robots,' IEEE Trans. on Robotics and Automations, vol. 12, no. 1, pp. 47-62, 1996 https://doi.org/10.1109/70.481750
  6. S. Kumar Saha and J. Angeles, 'Kinematics and dynamics of a three-wheeled 2-DOF AGV,' IEEE Int'l conf. on Robotics and Automation, pp. 1572-1577, 1989 https://doi.org/10.1109/ROBOT.1989.100202
  7. M. Tarokh, G. McDermott, S. Hayati, and J. Hung, 'Kinematic modeling of a high mobility mars rover,' IEEE Int'l conf. on Robotics and Automation, pp. 992-998, 1999 https://doi.org/10.1109/ROBOT.1999.772441
  8. P. F. Muir and C. P. Newman, 'Kinematic modeling of wheeled mobile robots,' Journal of Robotic Systems, vol. 4, no. 2, pp. 281-340, 1987 https://doi.org/10.1002/rob.4620040209