Publication

Hanyang University HumanRobotics Lab

Domestic Journal
여유구동을 지니는 전방향 모바일 로봇의 기구학 모델링 및 해석
Journal
제어로봇시스템학회 논문지
Vol
Vol. 7, No. 9
Page
pp. 766-773
Author
이병주, 김희국, 양성일
Year
2001
Date
2001.09
File
여유구동을 지니는 전방향 모바일 로봇의 기구학 모델링 및 해석.pdf (451.6K) 0회 다운로드 DATE : 2020-10-16 21:54:09
Abstract : Omni-directional mobile robots have been popularly employed in several appliction areas. However, the kinematics for these systems have not been clearly identified, specially for redundantly actuated case which is common in omni-directional-mobile robot such as the Nomadic model. For such mobile robot systems, exploitation of redundant actuation as well as singularity analysis has not been extensively addressed. In light of this fact, this paper introduces two different kinematic approaches for omnidirectional mobile robots. Then, a singular-free load distribution scheme for redundantly actuated three-wheeled omni-directional mobile robot is proposed. Through simulation, several advantages of redundantly actuated mobile robot in aspect of singularity avoidance, minimization of torque norm, and exploiting severa1 subtasks are presented.