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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Byung-Ju Yi Whee Kuk Kim |
| Copyright Year | 2000 |
| Description | Author affiliation: Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., South Korea (Byung-Ju Yi) |
| Abstract | Omnidirectional mobile robots have been popularly employed in several application areas. However, the kinematics for these systems have not been clearly identified, specially for the redundantly actuated case which is common in omnidirectional mobile robot such as Nomadic model. For such mobile robot systems, exploitation of redundant actuation as well as singularity analysis has not been extensively addressed. In light of this fact, this paper introduces two different kinematic approaches for omnidirectional mobile robots and examine singularity configurations of such systems. Then, a singular-free load distribution scheme for a redundantly actuated three-wheeled omnidirectional mobile robot is proposed. Through simulation, several advantages of the redundantly actuated mobile robot with respect to singularity avoidance and exploiting several sub-tasks, are presented. |
| Starting Page | 2485 |
| Ending Page | 2492 |
| File Size | 676214 |
| Page Count | 8 |
| File Format | |
| ISBN | 0780358864 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2000.846402 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2000-04-24 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Kinematics Mobile robots Wheels Space vehicles Automobiles Computer science Abstracts Application software Military computing Inertial navigation |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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