DOI QR코드

DOI QR Code

Kinematic Modeling for a Type of Mobile Robot using Differential Motion Transformation

미소운동 변환방법을 이용한 몇가지 이동로봇의 기구학 모델

  • Park, Jae-Han (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Kim, Soon-Chul (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Yi, Soo-Yeong (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology)
  • 박재한 (서울과학기술대학교 전기정보공학과) ;
  • 김순철 (서울과학기술대학교 전기정보공학과) ;
  • 이수영 (서울과학기술대학교 전기정보공학과)
  • Received : 2013.08.01
  • Accepted : 2013.10.01
  • Published : 2013.12.01

Abstract

Kinematic modeling is a prerequisite for motion planning and the control of mobile robots. In this paper, we proposed a new method of kinematic modeling for a type of mobile robot based on differential motion transformation. The differential motion implies a small translation and rotation in three-dimensional space in a small time interval. Thus, transformation of the differential motion gives the velocity relationship, i.e., Jacobian between two coordinate frames. Since the theory of the differential motion transformation is well-developed, it is useful for the systematic velocity kinematic modeling of mobile robots. In order to show the validity for application of the differential motion transformation, we obtained velocity kinematic models for a type of exemplar mobile robot including spherical ballbots.

Keywords

References

  1. D. Shin and K. Park, "Generalized kinematics modeling of wheeled mobile robots," Journal of the Korean Society of Precision Engineering, vol. 19, no. 5, pp. 118-125, 2002.
  2. P. Muir and C. Neuman, "Kinematic modeling of wheeled mobile robots," Technical Report No. CMU-RI-TR-80-12, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, 1986.
  3. P. Muir and C. Neuman, "Kinematic modeling for feedback control of an omnidirectional wheeled mobile robot," Proc. Of IEEE Int'l Conf. on Robotics and Automation, pp. 1772-1778, 1987.
  4. D. Shin and K. Park, "Velocity kinematic modeling for wheeled mobile robot," Proc. of the 2001 IEEE Int'l Conf. on Robotics and Automation, Seoul, Korea, pp. 3516-3522, 2001.
  5. D. Shin, "Robot velocity kinematics by closed-loop chain and ICC," Journal of the Korean Society of Precision Engineering, vol. 20, no. 4, pp. 103-111, 2003.
  6. T. Lauwers, G. Kantor, and R. Hollis, "A dynamically stable single-wheeled mobile robot with inverse mouse-ball drive," Proc. IEEE Int'l Conf. on Robotics and Automation, Orland, FL. 2006.
  7. J. Park, S. Kim, and S. Yi, "Development of stable ballbot with omnidirectional mobility," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 19, no. 1, pp. 40-44, 2013. https://doi.org/10.5302/J.ICROS.2013.19.1.040
  8. P. McKerrow, Introduction to Robotics, Addison-Wesley, 1990.
  9. Y. Leow, K. Low, and W. Loh, "Kinematic modelling and analysis of mobile robots with omni-directional wheels," Proc. of International Conference on Control, Automation, Robotics and Vision (ICARCV'02), Singapore, pp. 820-825, 2002.
  10. J. Kim, H. Kwon and J. Lee, "A rolling robot: design and implementation," Proc. of the 7th Asian Control Conference, Hong Kong, China, pp. 1474-1479, 2009.
  11. R. Nakajima, T. Tsubouchi, S. Yuta, and E. Koyanagi, "A development of a new mechanism of an autonomous unicycle," Proc. of the 1997 IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems, pp. 906-912, 1997.