Maneuver Control and Kinematical Energy Analysis of a Robot Based on Instantaneous Center of Rotation

摘要

The deduction process of maneuver algorithm in explicit format for wheeled mobile robot with four-steered four-driven wheels (4WS4WD) is discussed in this paper. The approach adopted by this paper is the synthesis of all sub-section analytical geometry analysis. Based on the instantaneous center of rotation (ICR), a generic maneuver algorithm has been presented. And the kinematical energy of the four wheels of the robot is analyzed based on the isotropy structure of this category robot. Results of simulation and experiments are implemented to validate the proposed control algorithms