Mobility of a mobile robot

被引：4

作者：

Takahashi, H ^{[1
]}

Morisawa, M ^{[1
]}

Ohnishi, K ^{[1
]}

机构：

[1] Keio Univ, Fac Sci & Technol, Dept Syst Design Engn, Tokyo 108, Japan

来源：

8TH IEEE INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/AMC.2004.1297676

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Studies about a mobile robot have. been developed. Especially, there have been a lot of theories about trajectory planning of a mobile robot or noholonomic constraints or tracking controller. But it has not argue what posture is suitable for a mobile robot, because the index to decide the condition of a mobile robot has not been proposed. In this paper, "mobility of a mobile robot," is defined applying the notion of manipulability using "mobility Jacobian matrix'' in order to evaluate the posture of a mobile. robot,. At first, two mobile robots, which are an actual posture and a desired posture., assume to be rotational motors and a stationary motor. These motors presume to be connected by a virtual link between two robots, so that, two mobile robots presuppose to be a virtual manipulator. Then, mobility Jacobian matrix related in the velocity vector of an endeffector and rotational velocities of wheels is defined like Jacobian matrix of a manipulator. The results of simulations show the validity of the proposed definition and are prospected.

引用

页码：253 / 257

页数：5

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