Swedish Wheeled Omnidirectional Mobile Robots: Kinematics Analysis and Control

被引：92

作者：

Indiveri, Giovanni ^{[1
]}

机构：

[1] Univ Salento, Dipartimento Ingn Innovaz, I-73100 Lecce, Italy

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2009年 / 25卷 / 01期

关键词：

Mobile robot kinematics; mobile robots; motion control; wheeled robots; TRAJECTORY GENERATION; DESIGN;

D O I：

10.1109/TRO.2008.2010360

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Swedish wheeled robots have received growing attention over the last few years. Their kinematic models have interesting properties in terms of mobility and possible singularities. This paper addresses the issue of kinematic modeling, singularity analysis, and motion control for a generic vehicle equipped with N Swedish wheels.

引用

页码：164 / 171

页数：8