Kinematic/dynamic modeling and analysis of a 3 degree-of-freedom redundantly actuated mobile robot

세바퀴 여유구동 모바일 로봇의 기구학/동력학 모델링 및 해석

This paper deals with the kinematic and dynamic modeling of a 3 degree-of-freedom redundantly actuated mobile robot for the purpose of analysis and control. Each wheel is driven by two motors for steering and driving. Therefore, the system becomes force-redundant since the number of input variable is greater than the number of output variable. The kinematic and dynamic models in terms of three independent joint variables are derived. Also, a load distribution method to determine the input loads is introduced. Finally we demonstrate the feasibility of the proposed algorithms through simulation.