International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Geometric Kinematics and Applications of a Mobile Robot

  • Kim, Dong-Sung (School of Electrical and Computer Engineering, Cornell University) ;
  • Kwon, Wook-Hyun (School of Electrical and Computer Engineering, Seoul National University) ;
  • Park, Hong-Sung (Department of Electrical and Computer Engineering, Kangwon National University)
  • Published : 2003.09.01
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Abstract

In this paper, the simple geometric kinematics of a three-wheeled holonomic mobile robot is proposed. Wheel architecture is developed for the holonomic mobile platform in order to provide omni-directional motions by three individually driven and steered wheels. Three types of basic motions are proposed for the path generation of the developed mobile robot. All paths of the mobile robot can be achieved through a combination of the proposed basic motion trajectories. The proposed method is verified through computer simulations and the developed mobile robot.

Keywords

References

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