Title :
Structural properties and classification of kinematic and dynamic models of wheeled mobile robots
Author :
Campion, G. ; Bastin, G. ; Andréa-Novel, B.D.
Author_Institution :
Centre for Syst. Eng. & Appl. Mech., Univ. Catholique de Louvain, Belgium
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 the generic structures of the model equations. For each class, problems of irreducibility of the model, configuration of the motorization and feedback equivalence are addressed
Keywords :
control system analysis; dynamics; feedback; kinematics; mobile robots; dynamic models; feedback equivalence; generic structures; kinematic models; wheeled mobile robots; Controllability; Equations; Feedback; Mechanical factors; Mechanical systems; Mobile robots; Prototypes; Robot kinematics; Systems engineering and theory; 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.1993.292023
