DocumentCode
3185638
Title
Kinematics Analysis of a Six-Wheeled Mobile Robot
Author
Chang, Yong ; Tan, Dalong ; Wang, Hongguang ; Ma, Shugen
Author_Institution
Shenyang Inst. of Autom., Chinese Acad. of Sci., Shenyang
fYear
2006
fDate
9-15 Oct. 2006
Firstpage
4169
Lastpage
4174
Abstract
The paper analysis a kinematic model for a wheeled mobile robot (WMR) traversing uneven terrain. A new form of the kinematics for wheeled mobile robot is deduced, through analyzing Jacobian matrices of individual wheel and rearranging the variables. The performance and characters of the kinematic formulation are explained using physical conception. A new method is proposed to set up the kinematics formulation for wheeled mobile robots. After analyzing the actuation kinematics, simulation results are provided to validate the motion of wheeled mobile robot over a special terrain
Keywords
Jacobian matrices; mobile robots; robot kinematics; Jacobian matrices; kinematic formulation; kinematics analysis; six-wheeled mobile robot; Analytical models; Equations; Gravity; Intelligent robots; Jacobian matrices; Laboratories; Mobile robots; Motion analysis; Robot kinematics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location
Beijing
Print_ISBN
1-4244-0258-1
Electronic_ISBN
1-4244-0259-X
Type
conf
DOI
10.1109/IROS.2006.281907
Filename
4059064
Link To Document