Publication

Hanyang University HumanRobotics Lab

International Journal
Kinematic Analysis and Motion Planning for a Planar Multiarticulated Omnidirectional Mobile Robot
Journal
IEEE/ASME Transactions on Mechatronics
Vol
Vol. 20, No. 6
Page
pp. 2983-2995
Author
E.-J. Jung, B.-J. Yi, and W. Kim
Year
2015
Date
2015.12
File
Kinematic Analysis and Motion Planning for a Planar Multiarticulated Omnidirectional Mobile Robot.pdf (1.1M) 0회 다운로드 DATE : 2020-10-18 17:03:11
Abstract: In this paper, kinematic modeling and singularity analysis are performed for an omnidirectional mobile robot. At the beginning, generalized formulas of the mobility and the first-order kinematics for a planar multiarticulated omnidirectional mobile robot are proposed. To verify the proposed formulas, a mobile robot that consists of three wheel mechanisms each of which has one redundant joint as compared to the operational degrees is introduced. Initially, the kinematic modeling and dynamic analysis, and odometry calculation for this robot are conducted. Next, singularity analysis of the proposed robot is performed. Then, using such a kinematic redundancy of each chain, motion planning algorithms that exploit the kinematic redundancy of the wheel chain are suggested. For navigation, a localization algorithm of the mobile robot based on odometry is presented, and specifically, two-leveled obstacle avoidance scheme, which simultaneously considers both large and small obstacles, is proposed. The usefulness of the proposed algorithms is verified through experimentation.