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기구학적 여유 자유도를 지니는 전방향 모바일 로봇에 관한 연구Study of an Omni-derectional Mobile Robot with Kinematic Redundancy

Other Titles
Study of an Omni-derectional Mobile Robot with Kinematic Redundancy
Authors
정의정이병주김희국
Issue Date
2008
Publisher
한국로봇학회
Keywords
Omni-directional Mobile Robot; Kinematic Redundancy; Obstacle Avoidance
Citation
로봇학회 논문지, v.3, no.4, pp.338 - 344
Journal Title
로봇학회 논문지
Volume
3
Number
4
Start Page
338
End Page
344
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/125067
ISSN
1975-6291
Abstract
Most omni-directional mobile robots have to change their trajectory for avoiding obstacles regardless of the size of the obstacles. However, an omni-directional mobile robot having kinematic redundancy can maintain the trajectory while the robot avoids small obstacles. This works deals with the kinematic modeling and motion planning of an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms. Each wheel mechanism is modeled as having four joints, while only three joints are necessary for creating the omni-directional motion. Thus, each chain has one kinematic redundancy. Two types of wheel mechanisms are compared and its kinematic modeling is introduced. Finally, several motion planning algorithms using the kinematic redundancy are investigated. The usefulness of this robot is shown through experiment.
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College of Science and Technology > Department of Electro-Mechanical Systems Engineering > 1. Journal Articles

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