Title :
Structural properties and classification of kinematic and dynamic models of wheeled mobile robots
Author :
Campion, Guy ; Bastin, Georges ; D´Andréa-Novel, Brigitte
Author_Institution :
Centre for Syst. Eng. & Appl. Mech., Univ. Catholique de Louvain, Belgium
fDate :
2/1/1996 12:00:00 AM
Abstract :
The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomy, mobility and controllability, configuration of the motorization, and feedback equivalence
Keywords :
mobile robots; robot dynamics; robot kinematics; controllability; dynamic model classification; feedback equivalence; holonomy; kinematic model classification; mobility; motor configuration; reducibility; structural properties; wheeled mobile robots; Controllability; Equations; Feedback; Kinematics; Mechanical systems; Mobile robots; Orbital robotics; Robotics and automation; State-space methods; Wheels;
Journal_Title :
Robotics and Automation, IEEE Transactions on
