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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | He Xu Kai Xue Fangliang Peng Shuanghe Yu Xiaozhi Gao Qiuyun Ouyang Qing Chang Zhimao Lu |
| Copyright Year | 2007 |
| Description | Author affiliation: Harbin Eng. Univ., Harbin (He Xu) |
| Abstract | In this paper, a universal kinematics model has been presented to a robot with four caster-cambered wheels. The effect toward the robot kinematics performance based on caster and camber has been analyzed. Closed-chain space and Instantaneous Superposition Frame (ISR) is used to build a 3-D kinematics model about differential suspension mobile robot with caster-cambered wheels by independent propulsion and individual steering. An algorithm to estimate the wheel slippage is given. And the Jacobian of wheel with caster and camber has been presented. The results can be the extension of the research results of P.F. Muir and Rajagoplan. |
| Starting Page | 1345 |
| Ending Page | 1350 |
| File Size | 693813 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424408276 |
| DOI | 10.1109/ICMA.2007.4303745 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2007-08-05 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Kinematics Mobile robots Wheels Shafts Robotics and automation Electronic mail Power engineering and energy Intelligent robots Space technology Jacobian matrices slippage estimation mobile robot kinematics caster-cambered wheel |
| Content Type | Text |
| Resource Type | Article |
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