제어로봇시스템학회:학술대회논문집

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

Kinematic Modeling of Chained Form Mobile Robot

  • Han, Jae-Yong (School of Electrical Engineering and Computer Science, HANYANG University) ;
  • Lee, Jae-Hoon (School of Electrical Engineering and Computer Science, HANYANG University) ;
  • Yi, Byung-Ju (School of Electrical Engineering and Computer Science, HANYANG University) ;
  • Kim, Whee-Kuk (Department of Control and Instrumentation Engineering, KOREA University)
  • 발행 : 2003.10.22
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초록

Chained form mobile robots have been studied from the viewpoint of the control and analysis of nonholonomic mechanical systems in literature. However, researches for the detailed closed form kinematic modeling are rarely progressed. Nothing that a chained form mobile robot can be considered as a parallel system including several chains and wheels, the transfer method using augmented generalized coordinates is applied to obtain inverse and forward kinematic models of chained form mobile robots. Various numerical simulations are conducted to verify the effectiveness of the suggested kinematic model.

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