• 한국정밀공학회지
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• 제20권4호
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• pp.103-111
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• 2003

The Denavit-Hartenberg symbolic notation provides the framework for the convenient and systematic method for the robot manipulator kinematics, but is limited its use to the lower pair mechanism or to the single loop mechanisms. The Sheth-Uicker notation is its revised and generalized version to be extended fur the entire domain of the link mechanism including the higher pairs. This paper proposes the method that uses the Sheth-Uicker notation fur the robot kinematics modeling. It uses the instantly coincident coordinate system and the closed loop chain fur the coordinate transformation. It enables us to model the velocity kinematics of the robot that has the complex structures such as the ternary links and the wheels in a systematic and rational way. As an implementation of the proposed method, the Jacobian matrices were obtained for not only the robot with two legs and a torso, but a manipulator on a mobile platform.

• 한국정밀공학회지
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• 제19권5호
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• pp.118-125
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• 2002

The previous kinematic analysis of wheeled mobile robots(WMRs) is performed in an ad-hoc manner, while those of the robot manipulators are done in a consistent way using the coordinate system assignment and the homogeneous transformation matrix. This paper shows why the method for the robot manipulators cannot be used directly to the WMRs and proposes the method for the WMRs, which contains modeling the wheel with the Sheth-Uicker notation and the homogeneous transformation. The proposed method enable us to model the velocity kinematics of the WMRs in a consistent way. As an implementation of the proposed method, the Jacobian matrices were obtained for conventional steered wheel and non-steered wheel respectively and the forward and inverse velocity kinematic solutions were calculated fur a tricycle typed WMR. We hope that our proposed method comes to hold an equivalent roles for WMRs, as that of the manipulators does for the robot manipulators.