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.

Volume

4

fYear

2006

fDate

9-13 July 2006

Firstpage

3090

Lastpage

3095

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ISIE.2006.296109

Filename

4078885