Publication

Hanyang University HumanRobotics Lab

Domestic Journal
기구학적 여유자유도를 지니는 전방향 모바일 로봇에 관한 연구
Journal
로봇공학회논문지
Vol
Vol. 3, No.4
Page
pp. 338-344
Author
정의정, 이병주, 김희국
Year
2008
Date
2008
File
기구학적 여유자유도를 지니는 전방향 모바일 로봇에 관한 연구.pdf (2.2M) 0회 다운로드 DATE : 2020-10-16 22:23:56
Abstact: Most omni-directional mobile robots have to change their trajectory for avoiding obstacles regardless of the size of the obstacles. However, an omni-directional mobile robot having kinematic redundancy can maintain the trajectory while the robot avoids small obstacles. This works deals with the kinematic modeling and motion planning of an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms. Each wheel mechanism is modeled as having four joints, while only three joints are necessary for creating the omni-directional motion. Thus, each chain has one kinematic redundancy. Two types of wheel mechanisms are compared and its kinematic modeling is introduced. Finally, several motion planning algorithms using the kinematic redundancy are investigated. The usefulness of this robot is shown through experiment.