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
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