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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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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
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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.

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References

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