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http://dx.doi.org/10.5302/J.ICROS.2002.8.3.243

Analysis on Mobility of Planar Mobile Robots  

Kim, Wheekuk (Dept.of Control and Instrumentation Engineering, Korea University)
Lee, Seung-Eun (Graduate School of Korea University)
Yi, Byung-Ju (Dept. of Electronic computer Engineering, Hanyang University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.3, 2002 , pp. 243-248 More about this Journal
Abstract
In this paper, mobility of planar mobile robots is discussed. Firstly, simplified joint models for four typical wheels of the mobile robots are described including both rotational and translational friction parameters. Then, based on these joint models and through the inclusion of the additional imaginary joint particularly to the mobile robots which lack geometric generality, mobility analysis of various types of planar mobile robots is performed.
Keywords
mobility; mobile robot; kinematic model;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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