Title :
Kinematics for modular wheeled mobile robots
Author :
Burke, Thomas ; Durrant-Whyte, Hugh F.
Author_Institution :
Dept. of Eng. Sci., Oxford Univ., UK
Abstract :
The kinematics for modular wheeled mobile robots is presented. Basic theory of planar motion is used to derive inverse and forward kinematics. The inverse kinematics is inherently modular, whereas the information form of a least-squares estimator is required to completely modularize the forward kinematics. An implementation is described and results are shown
Keywords :
mobile robots; forward kinematics; information form; inverse kinematics; least-squares estimator; modular wheeled mobile robots; planar motion; Aluminum; Assembly; Costs; Drives; Kinematics; Mobile robots; Power distribution; Prototypes; Vehicles; Wheels;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583750
