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Kinematic Modeling of Omnidirectional Mobile Robots as Parallel Manipulator
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | 이병주 | - |
| dc.date.accessioned | 2021-06-23T07:25:21Z | - |
| dc.date.available | 2021-06-23T07:25:21Z | - |
| dc.date.issued | 2001-04-20 | - |
| dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/32829 | - |
| dc.description.abstract | Omni-directional mobile robots have been popularly employed in several application areas. However, the kinematics and singularity analysis for these systems has not been clearly identified. This paper introduces two different kinematic approaches for omni-directional mobile robots. Then, a singular-free load distribution scheme for redundantly actuated three-wheeled omni-directional mobile robot is proposed. Through simulation, several advantages of redundantly actuated mobile robot in aspect of singularity avoidance, input-load saving, and exploiting several subtasks are presented. | - |
| dc.title | Kinematic Modeling of Omnidirectional Mobile Robots as Parallel Manipulator | - |
| dc.type | Conference | - |
| dc.citation.conferenceName | IFAC Workshop on Mobile Robot Technology | - |
| dc.citation.conferencePlace | 제주도 | - |
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)