OTHER
Study on general theory of kinematics and dynamics of wheeled mobile robots.
Takahiro Tsukishima, Masaharu Takano, Ken Sasaki, Kenji Inoue
- Year
- 1990
- Citations
- 10
- Access
- Open access
Abstract
This paper proposes a general theory for kinematics and dynamics of wheeled mobile robots (WMRs). This study has two features: 1) The proposed method can deal with various WMR system ranging from typical three or four-wheeled mobile robot to multi-WMR systems where multiple WMRs are connected by joints.
Keywords
KinematicsSlip (aerodynamics)Mobile robotControl theory (sociology)Dynamics (music)Kinematics equationsRobot kinematicsRobotEngineeringComputer science
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