Title :
Kinematical Analysis of a Four Steered Wheeled Mobile Robot
Author :
Lauria, Michel ; Nadeau, Isabelle ; Lepage, Pierre ; Morin, Yan ; Giguere, Patrick ; Gagnon, Frederic ; Letourneau, Dominic ; Michaud, François
Author_Institution :
Dept. of Electr. Eng. & Comput. Eng., Sherbrooke Univ., Que.
Abstract :
This paper presents the kinematical analysis of AZIMUT-2. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome an hyper-motorization issue inherent to this wheel geometrical properties. Finally, we describe AZIMUT-2´s two operational modes and its seven locomotion modes, along with a control algorithm based on the kinematical model of the robot
Keywords :
mobile robots; robot kinematics; AZIMUT wheel; AZIMUT-2; four steered wheeled mobile robot; omnidirectional nonholonomic robot; robot kinematical model; Intelligent robots; Intelligent systems; Laboratories; Leg; Mobile computing; Mobile robots; Prototypes; Solid modeling; Systems engineering and theory; Wheels;
Conference_Titel :
Industrial Electronics, 2006 IEEE International Symposium on
Conference_Location :
Montreal, Que.
Print_ISBN :
1-4244-0496-7
Electronic_ISBN :
1-4244-0497-5
DOI :
10.1109/ISIE.2006.296109
