Kinematical analysis of a four steered wheeled mobile robot

被引：3
|
作者：
Lauria, Michel [1 ]
Nadeau, Isabelle [1 ]
Lepage, Pierre [1 ]
Morin, Yan [1 ]
Giguere, Patrick [1 ]
Gagnon, Frderic [1 ]
Letourneau, Dominic [1 ]
Michaud, Francois [1 ]
机构：
[1] Univ Sherbrooke, Dept Elect Engn & Comp Engn, LABORIUS Res Lab Mobile Robot & Intelligent Syst, Sherbrooke, PQ J1K 2R1, Canada
来源：
2006 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, VOLS 1-7 | 2006年
基金：
加拿大创新基金会; 加拿大自然科学与工程研究理事会;
关键词：
D O I：
10.1109/ISIE.2006.296109
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the kinematical analysis of AZIMUT-2. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome an hyper-motorization issue inherent to this wheel geometrical properties. Finally, we describe AZIMUT-2's two operational modes and its seven locomotion modes, along with a control algorithm based on the kinematical model of the robot.
引用
收藏
页码：3090 / +
页数：2
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