제어로봇시스템학회:학술대회논문집
- 2003.10a
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- Pages.2066-2071
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- 2003
Isotropic Configurations of Omnidirectional Mobile Robots with Three Caster Wheels
- Kim, Sung-Bok (School of Electronics and Information Eng., Hankuk University of Foreign Studies) ;
- Lee, Jae-Young (School of Electronics and Information Eng., Hankuk University of Foreign Studies) ;
- Kim, Hyung-Gi (School of Electronics and Information Eng., Hankuk University of Foreign Studies)
- Published : 2003.10.22
Abstract
In this paper, we identify the isotropic configurations of an omnidirectional mobile robot with three caster wheels, depending on the selection of actuated joints. First, We obtain the kinematic model of a caster wheeled omnidirectional mobile robot(COMR) without matrix inversion. For a given task velocity, the instantaneous motion of each wheel is decomposed into two orthogonal instantaneous motions of the steering and the rotating joints. Second, with the characteristic length introduced, we derive the isotropy conditions of a COMR having