Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Mobility Analysis of Planar Mobile Robots and The Rough-Terrain Mobile Robot via The Representative Screw

대표 스크류를 이용한 평면형 및 험로 주행 로봇의 모빌리티 분석

  • 김희국 (고려대학교 제어계측공학과) ;
  • 이승은 (고려대학교 대학원) ;
  • 이병주 (한양대학교 전자컴퓨터 공학부)
  • Published : 2002.10.01
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Abstract

Mobility analysis for various mobile mechanisms including mechanisms with lack of geometric generality is performed. Joint screws are employed to find the sire of feasible joint motion space or each of independent loops of mobile mechanisms. Particularly, the concept of "representative screws" is introduced to represent the feasible motion spaces for subsets of joints belonging to either a loop or a sub-system consisting of several closed loops. Firstly. simplified joint model for each of low different typical wheels popularly employed in mobile robots is described. Then. mobility analysis fir various types of planar mobile robots and the Mars Rover mobile robot for navigation on the rocky road on Mars arc performed. It is confirmed that the obtained results in this study coincide with the previous ones which were obtained by suing imaginary Joints approach(1)pproach(1)

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References

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