Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates

A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the meth...

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Bibliographic Details
Published inProceedings - IEEE International Conference on Robotics and Automation Vol. 3; pp. 2413 - 2418 vol.3
Main Authors Kim, W, Kim, Do Hyung, Yi, B-J, You, Bum Jae
Format Conference Proceeding Journal Article
LanguageEnglish
Published IEEE 2001
Subjects
Computer science
Control system synthesis
Electric variables control
Instruments
Intelligent control
Intelligent robots
Intelligent systems
Mobile robots
Robot kinematics
Wheels
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Summary:A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models. The kinematic models derived by the direct inverse of the augmented matrices provide an accurate solution, which was not achievable by the modeling method based on the pseudo-inverse method which provides an approximate solution. Lastly, two kinematic models for typical, differential-driven mobile robots are presented to show the effectiveness of the proposed modeling method.
Bibliography:SourceType-Scholarly Journals-2
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ObjectType-Conference Paper-1
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SourceType-Conference Papers & Proceedings-1
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ISBN:0780365763
9780780365766
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2001.932983