The Journal of Korea Robotics Society (로봇학회논문지)
- Volume 1 Issue 1
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- Pages.73-80
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- 2006
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- 1975-6291(pISSN)
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- 2287-3961(eISSN)
Kinematics and Inverse Kinematics in Unmanned Bicycle System
무인자전거 시스템의 정역학 및 역정역학
Abstract
Bicycle is one of convenient transportation system. In this paper, we derive a more precise kinematics of bicycle system compared with other ones which were suggested by other researchers. In the derivation of kinematics we adopted a physical concept called virtual wheel. We also propose an algorithm for deriving inverse kinematics of a bicycle system. In this paper, the meaning of inverse kinematics is to find the time functions of steering angle and driving wheel speed for a given desired path trajectory. From the computer simulation, we show the validity of our proposed algorithm for inverse kinematics of bicycle system.