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Control algorithms for kinematically redundant 3-wheeled mobile robots
- Authors
- Jung, Eui jung; Yi, Byung ju
- Issue Date
- Dec-2009
- Publisher
- World Scientific
- Citation
- Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010, pp 1105 - 1112
- Pages
- 8
- Indexed
- SCIE
SCOPUS
- Journal Title
- Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
- Start Page
- 1105
- End Page
- 1112
- Abstract
- In this paper, control algorithms for kinematically redundant 3-wheeled mobile robots are proposed. One of popular mobile robots in this type is the poly-articulated expandable 3-wheeled planetary rover “Tri-Star3”, which was developed by Tokyo Institute of Technology in Japan. Because each wheel of the robot has one kinematic redundancy, the robot is able to make diverse configurations. However, this robot cannot fully utilize the kinematic redundancy because it employs only three actuators and there are some singularities inside the workspace. Thus, it uses discrete control algorithms to control its motion. To enhance the motion capability, a modified wheel mechanism, which has no singularity and is able to utilize the redundancy, is proposed. The performance of this device is compared to that of Tri-Star3. © 2010 by World Scientific Publishing Co. Pte. Ltd.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)