Title :
The kinematic design of a 3-DOF isotropic mobile robot
Author :
Saha, Subir Kumar ; Angeles, Jorge ; Darcovich, John
Author_Institution :
Toshiba Corp., Kawasaki, Japan
Abstract :
Automatic guided vehicles with omnidirectional wheels have three degrees of freedom (DOF). Their full mobility is obtained by virtue of the free rollers around the periphery of the wheels. The choice of the orientation of the roller axes with respect to the wheel axis, along the wheel orientations with respect to the platform, the number of wheels, etc., are considered. A design approach based on the isotropy of the underlying Jacobian matrices is reported
Keywords :
automatic guided vehicles; kinematics; matrix algebra; mobile robots; 3-DOF isotropic mobile robot; Jacobian matrices; automatic guided vehicles; free rollers; kinematic design; number of wheels; omnidirectional wheels; roller axes; wheel axis; wheel orientations; Bicycles; Gears; Jacobian matrices; Mechanical engineering; Mobile robots; Orbital robotics; Remotely operated vehicles; Robot kinematics; Roundoff errors; Wheels;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291996
