DocumentCode
2056431
Title
Geometric kinematics modeling of omni-directional autonomous mobile robot and its applications
Author
Kim, Dong Sung ; Lee, Hyun Chul ; Kwon, Wook Hyun
Author_Institution
Eng. Res. Center for Adv. Control Instrum., Seoul Nat. Univ., South Korea
Volume
3
fYear
2000
fDate
2000
Firstpage
2033
Abstract
A geometric kinematics modeling of a three wheeled autonomous mobile robot is proposed. Three types of basic motions are proposed for the path generation of the developed mobile robot. All paths of the mobile robot are achieved by the combination of proposed basic motions. The proposed scheme is verified through computer simulations and a practical model
Keywords
digital simulation; geometry; mobile robots; path planning; robot kinematics; basic motions; geometric kinematics modeling; omni-directional autonomous mobile robot; path generation; three wheeled autonomous mobile robot; Architecture; Computer simulation; Gears; Instruments; Kinematics; Mobile robots; Servomotors; Solid modeling; Synchronous motors; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.846328
Filename
846328
Link To Document