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http://dx.doi.org/10.5302/J.ICROS.2006.12.7.679

Development of Omni-Directional Mobile Robot System with Rocker-Bogie Link Structure  

Gang Taig-Gi (전북대학교 제어계측공학과)
Yi Soo-Yeong (전북대학교 전자정보공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.7, 2006 , pp. 679-685 More about this Journal
Abstract
In this paper, development of an omni-directional mobile robot with rocker-bogie link structure is addressed. The overall mobile robot system consists of the robot mechanism with embedded control architecture, wireless communication with host graphic monitoring system, and the joy stick tole-controller. In the cluttered environment with various sizes of obstacles, the omni-directionality and the traversality are required for a mobile robot, so that the robot call go around or climb over the obstacles according to the size. The mobile robot mechanism developed in this paper has both of the omni-directionality and the traversality by 4 steerable driving wheels and the 2 additional passive omni-directional wheels linked with the rocker-bogie structure. The kinematic modeling for the mobile robot is described based on the well-known Sheth-Uicker convention and the instantaneous coordinate system.
Keywords
rocker-bogie; Sheth-Uicker convention; instantaneous coordinate system; inverse kinematics; jacobian matrix;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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