기구학적 여유자유도를 지니는 전방향 모바일 로봇에 관한 연구Study of an Omni-directional Mobile Robot with Kinematic Redundancy
- Other Titles
- Study of an Omni-directional Mobile Robot with Kinematic Redundancy
- Authors
- 정의정; 이병주; 김희국
- Issue Date
- Dec-2008
- Publisher
- 한국로봇학회
- Keywords
- Omni-directional Mobile Robot; Kinematic Redundancy; Obstacle Avoidance
- Citation
- 로봇학회 논문지, v.3, no.4, pp 338 - 343
- Pages
- 6
- Journal Title
- 로봇학회 논문지
- Volume
- 3
- Number
- 4
- Start Page
- 338
- End Page
- 343
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/41898
- ISSN
- 1975-6291
2287-3961
- Abstract
- Most omni-directional mobile robots have to change their trajectory for avoiding obstacles regardless of the size of the obstacles. However, an omni-directional mobile robot having kinematic redundancy can maintain the trajectory while the robot avoids small obstacles. This works deals with the kinematic modeling and motion planning of an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms. Each wheel mechanism is modeled as having four joints, while only three joints are necessary for creating the omni-directional motion. Thus, each chain has one kinematic redundancy. Two types of wheel mechanisms are compared and its kinematic modeling is introduced. Finally, several motion planning algorithms using the kinematic redundancy are investigated. The usefulness of this robot is shown through experiment.
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