제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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- Pages.427-427
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- 2000
모바일 로봇의 특이형상 분석
Singularity Analysis of Mobile Robots
초록
In this study, singularity of two types of mobile robots for various input joints are investigated: One is the mobile robot with three caster wheels and the other is the mobile robot with two conventional wheels and one caster wheel. Kinematic models are derived via the transfer method of generalized coordinates. Then, determinants of the Jacobian of the mobile robots are used to identify the singularity configurations.