Kinematics analysis of a six-wheeled mobile robot

被引：10
|
作者：
Chang, Yong [1 ,3 ]
Tan, Dalong [1 ]
Wang, Hongguang [1 ]
Ma, Shugen [1 ,2 ]
机构：
[1] Chinese Acad Sci, Robot Lab, Shenyang Inst Automat, Shenyang 110016, Peoples R China
[2] Ritsumeikan Univ, Org Promot COE Program, Kyoto 5258577, Japan
[3] Chinese Acad Sci, Grad Sch, Beijing 100039, Peoples R China
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
D O I：
10.1109/IROS.2006.281907
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper analysts a kinematic model for a wheeled mobile robot (WMR) traversing uneven terrain. A new form of the kinematics for wheeled mobile robot is deduced, through analyzing Jacobian matrices of individual wheel and rearranging the variables. The performance and characters of the kinematic formulation are explained using physical conception. A new method is proposed to set up the kinematics formulation for wheeled mobile robots. After analyzing the actuation kinematics, simulation results are provided to validate the motion of wheeled mobile robot over a special terrain.
引用
收藏
页码：4169 / +
页数：2
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