Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2001.11c
- /
- Pages.72-75
- /
- 2001
A Study on the Kinematics of Mobile Robot with Joint-actuator
관절구동기와 바퀴를 가진 이동로봇에 대한 기구학 연구
- Ryu, Shin-Hyuug (Yonsei Univ. Electrical & Electronic Eng ICSLAB.) ;
- Lee, Sung-Ryul (Yonsei Univ. Electrical & Electronic Eng ICSLAB.) ;
- Lee, Ki-Chul (OCST Co.,LTD) ;
- Park, Mig-Non (Yonsei Univ. Electrical & Electronic Eng ICSLAB.)
- 류신형 (연세대학교 대학원 전기전자공학과 지능제어시스템연구실) ;
- 이성렬 (연세대학교 대학원 전기전자공학과 지능제어시스템연구실) ;
- 이기철 ((주)OCST) ;
- 박민용 (연세대학교 대학원 전기전자공학과 지능제어시스템연구실)
- Published : 2001.11.24
Abstract
In this paper, the kinematic model and motion control of a joint-actuated mobile robot are analyzed. To take an efficient approach to the wheeled mobile robots, the relationship between wheel rotation and the contact point of the wheel is considered. It is shown that each addition of a joint to a mobile robot increases the degree of freedom(DOF) of mobile robot, and the way of joint attachment to a mobile robot is proposed. To get a solution of inverse kinematics of mobile robot, two types of approaches are proposed.
Keywords