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ICRA
2002
IEEE

Mobility Analysis of Planar Mobile Robots

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Mobility Analysis of Planar Mobile Robots
: In this paper, mobility analysis of various planar mobile robots are performed. Two different approaches are employed for that purpose. In the first approach, joint screws are employed to find the size of feasible joint motion space of each of independent loops of mobile mechanisms. Particularly, the concept of "representative screws" is introduced to represent the feasible motion spaces for subsets of joints belonging to either a loop or a sub-system consisting of several closed loops. In the second approach, imaginary joints are employed to compensate for lack of geometric generality of mobile robots. It is confirmed that both approaches are useful in the mobility analysis for various type of planar mobile robots even in the case of lack of geometric generality. Keywords : mobile robot, mobility analysis, imaginary joint, screw, lack of geometric generality
Whee Kuk Kim, Seung-Eun Lee, Byung-Ju Yi
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Whee Kuk Kim, Seung-Eun Lee, Byung-Ju Yi
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