Kinematic Modeling of Mobile Robots by Transfer Method of Generalized Coordinates

좌표계 전환기법을 활용한 모바일 로봇의 기구학 모델링

Firstly, kinematic model of various type of wheels which includesskidding and skidding friction are presented. Tend, the transfer method of generalized coordinates which is useful to model the parallel mechanisms, can be applied to mobile robot by including such friction terms. Particularly, by appling the modeling method to mobile robot consisting of two conventional wheels and one caster wheel, forword/reverse kinematic modeling could be obtained without using pseudoinverse solutions.