Publication

Hanyang University HumanRobotics Lab

International Journal
The Kinematics for Redundantly Actuated Omnidirectional Mobile Robots
Journal
Journal of Robotic Systems
Vol
Vol. 19, No. 6
Page
pp. 255-267
Author
B.-J. Yi, W. K. Kim
Year
2002
Date
2002.06
File
The kinematics for redundantly actuated omnidirectional mobile robots.pdf (664.5K) 7회 다운로드 DATE : 2020-10-17 22:43:41
Abstract: Omnidirectional mobile robots have been popularly employed in several application areas. However, the kinematics and singularity analysis for these systems have not been clearly identified, especially for the redundantly actuated case, which is common in current omnidirectional mobile robots. In light of this fact, this article introduces two different kinematic approaches for a typical omnidirectional mobile robot having three caster wheels, and examines singularity configurations of such systems. Then, a singularity‐free load‐distribution scheme for a redundantly actuated three‐wheeled omnidirectional mobile robot is proposed. Through simulation, several advantages of the redundantly actuated mobile robot (singularity avoidance, input‐load saving, and exploiting several subtasks) are presented.