Remarks on the classification of wheeled mobile robots-Reference-Cited by-同舟云学术

Remarks on the classification of wheeled mobile robots

Published:2016-04-06 Issue:1 Volume:7 Page:93-105
ISSN:2191-916X
Container-title:Mechanical Sciences
language:en
Short-container-title:Mech. Sci.

Author:

Gruber Christoph,Hofbaur Michael

Abstract

Abstract. The subject of this work is modeling and classification of single-bodied wheeled mobile robots (WMRs). In the past, it was shown that the kinematics of each such robot can be modeled by one out of only five different generic models. However, the precise conditions under which a model is the proper description of the kinematic capabilities of a robot were not clear. These shortcomings are eliminated in this work, leading to a simple procedure for model selection. Additionally, a thorough analysis of the kinematic models and a classification of their singularities are presented.

Funder

Austrian Science Fund

Publisher

Copernicus GmbH

Subject

Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering

Link

https://ms.copernicus.org/articles/7/93/2016/ms-7-93-2016.pdf

Reference29 articles.

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