Analysis on Mobility of Planar Mobile Robots

평면형 모바일 로봇의 모빌리티에 대한 분석

  • Kim, Wheekuk (Dept.of Control and Instrumentation Engineering, Korea University) ;
  • Lee, Seung-Eun (Graduate School of Korea University) ;
  • Yi, Byung-Ju (Dept. of Electronic computer Engineering, Hanyang University)
  • 김희국 (고려대학교 제어계측공학과) ;
  • 이승은 (고려대학교 대학원) ;
  • 이병주 (한양대학교 전자컴퓨터 공학부)
  • Published : 2002.03.01


In this paper, mobility of planar mobile robots is discussed. Firstly, simplified joint models for four typical wheels of the mobile robots are described including both rotational and translational friction parameters. Then, based on these joint models and through the inclusion of the additional imaginary joint particularly to the mobile robots which lack geometric generality, mobility analysis of various types of planar mobile robots is performed.


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