Referenced Items are not available for this document.
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
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:12
,
Issue:
1
)
Date of Publication: Feb 1996
- Page(s):
- 47 - 62
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 5203201
- Digital Object Identifier :
- 10.1109/70.481750
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Feb 1996
- Sponsored by :
- IEEE Robotics and Automation Society
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