Abstract:
The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classi...Show MoreMetadata
Abstract:
The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomy, mobility and controllability, configuration of the motorization, and feedback equivalence.
Published in: IEEE Transactions on Robotics and Automation ( Volume: 12, Issue: 1, February 1996)
DOI: 10.1109/70.481750
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Degrees Of Freedom ,
- Dynamic Model ,
- Control Input ,
- Feedback Control ,
- Linear Approximation ,
- Velocity Components ,
- Coordination Number ,
- Model Configuration ,
- State-space Model ,
- Mobile Robot ,
- State Feedback ,
- Robot Model ,
- Position Of The Robot ,
- Degree Of Mobility ,
- Identically Zero ,
- Types Of Robots ,
- Linearizable ,
- Wheeled Robot ,
- Robot Structure ,
- State Space ,
- Non-degenerate ,
- Kinematic Constraints ,
- Coordinate Rotation ,
- Equation Modeling ,
- Nonholonomic ,
- Continuous-time ,
- Local Coordinate ,
- Column Vector
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Degrees Of Freedom ,
- Dynamic Model ,
- Control Input ,
- Feedback Control ,
- Linear Approximation ,
- Velocity Components ,
- Coordination Number ,
- Model Configuration ,
- State-space Model ,
- Mobile Robot ,
- State Feedback ,
- Robot Model ,
- Position Of The Robot ,
- Degree Of Mobility ,
- Identically Zero ,
- Types Of Robots ,
- Linearizable ,
- Wheeled Robot ,
- Robot Structure ,
- State Space ,
- Non-degenerate ,
- Kinematic Constraints ,
- Coordinate Rotation ,
- Equation Modeling ,
- Nonholonomic ,
- Continuous-time ,
- Local Coordinate ,
- Column Vector
