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http://dx.doi.org/10.5302/J.ICROS.2006.12.12.1235

Isotropy Analysis of Caster Wheeled Mobile Robot with Variable Steering Link Offset  

Kim, Sung-Bok (한국외국어대학교 전자정보공학부)
Moon, Byung-Kwon (한국외국어대학교 전자정보공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.12, 2006 , pp. 1235-1240 More about this Journal
Abstract
Previous isotropy analysis of a caster wheeled omnidirectional mobile robot(COMR) has been made under the assumption that the steering link offset is equal to the caster wheel radius. Nevertheless, many practical COMR's in use take advantage of the steering link offset different from the wheel radius, mainly because of improved stability. This paper presents the isotropy analysis of a fully actuated COMR with variable steering link offset, which can be considered as the generalization of the previous analysis. First, the kinematic model of a COMR under full actuation is obtained based on the orthogonal decomposition of the wheel velocities. Second, the necessary and sufficient conditions for the isotropy of a COMR are derived and examined to categorize three different groups, each of which can be dealt with in a similar way. Third, for each group, the isotropy conditions are further explored so as to identify all possible isotropic configurations completely.
Keywords
caster wheeled mobile robot; variable steering link offset; isotropy analysis; isotropic configuration;
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Times Cited By KSCI : 1  (Citation Analysis)
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