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Structural properties and classification of kinematic and dynamic models of wheeled mobile robots

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3 Author(s)
Campion, G. ; Centre for Syst. Eng. & Appl. Mech., Univ. Catholique de Louvain, Belgium ; Bastin, G. ; Dandrea-Novel, B.

The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomy, mobility and controllability, configuration of the motorization, and feedback equivalence

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Robotics and Automation, IEEE Transactions on  (Volume:12 ,  Issue: 1 )