Kinematic analysis of wheeled moblie roobt
Joint Authors
Deepak, B. B. V. L.
Parhi, Dayal R.
Source
Journal of Automation and Systems Engineering
Issue
Vol. 5, Issue 2 (30 Jun. 2011), pp.96-111, 16 p.
Publisher
Publication Date
2011-06-30
Country of Publication
Algeria
No. of Pages
16
Main Subjects
Abstract EN
This paper concerned with the kinematic analysis of a wheeled mobile robot (WMR).
A wheeled mobile robot here considered as a planer rigid body that rides on an arbitrary number of wheels.
In this paper it is shown that, for a large class of possible configurations of wheels, five types of categories can be done namely i) fixed standard wheels, ii) steerable standard wheels, iii) castor wheels, iv) Swedish wheels, and v) spherical wheels.
These wheels are characterized by generic structures of the model equations.
Based on the geometrical constraints of these wheels a kinematical model has been proposed and the degree of mobility, steer ability and maneuverability are studied.
Finally this analysis is applied to various three wheeled mobile robots.
Examples are presented to illustrate the models.
American Psychological Association (APA)
Deepak, B. B. V. L.& Parhi, Dayal R.. 2011. Kinematic analysis of wheeled moblie roobt. Journal of Automation and Systems Engineering،Vol. 5, no. 2, pp.96-111.
https://search.emarefa.net/detail/BIM-290930
Modern Language Association (MLA)
Deepak, B. B. V. L.& Parhi, Dayal R.. Kinematic analysis of wheeled moblie roobt. Journal of Automation and Systems Engineering Vol. 5, no. 2 (Jun. 2011), pp.96-111.
https://search.emarefa.net/detail/BIM-290930
American Medical Association (AMA)
Deepak, B. B. V. L.& Parhi, Dayal R.. Kinematic analysis of wheeled moblie roobt. Journal of Automation and Systems Engineering. 2011. Vol. 5, no. 2, pp.96-111.
https://search.emarefa.net/detail/BIM-290930
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 110-111
Record ID
BIM-290930