제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

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

세바퀴 여유구동 모바일 로봇의 기구학/동력학 모델링 및 해석

  • 박승 (한양대학교 제어계측공학과) ;
  • 이병주 (한양대학교 제어계층공학과) ;
  • 김희국 (고려대학교 제어계측공학과)
  • Published : 1997.10.01
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Abstract

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.

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