3-D Kinematics Modeling for Mobile Robot with Steering Castered-and-Cambered Wheels

In this paper, a universal kinematics model has been presented to a robot with four caster-cambered wheels. The effect toward the robot kinematics performance based on caster and camber has been analyzed. Closed-chain space and Instantaneous Superposition Frame (ISR) is used to build a 3-D kinematics model about differential suspension mobile robot with caster-cambered wheels by independent propulsion and individual steering. An algorithm to estimate the wheel slippage is given. And the Jacobian of wheel with caster and camber has been presented. The results can be the extension of the research results of P.F. Muir and Rajagoplan.