Isotropy analysis of caster wheeled omnidirectional mobile robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 3, 2004, Pages 3093-3098

  Kim, Sungbok ^a   Kim, Hyunggi ^a  

^a Hankuk University of Foreign Studies   (South Korea)

Author keywords

Caster wheel; Isotropic configuration; Kinematic analysis; Omnidirectional mobile robot

Indexed keywords

CONSTRAINT THEORY; KINEMATICS; MATHEMATICAL MODELS; MATRIX ALGEBRA; ROTATION; VECTORS; WALKING AIDS;

CASTER WHEELS; ISOTROPIC CONFIGURATIONS; KINEMATIC ANALYSIS; OMNIDIRECTIONAL MOBILE ROBOTS;

MOBILE ROBOTS;

EID: 3042576214     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

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3. G. Campion, G. Bastin. and B. D'Andrea Novel, "Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots," IEEE Trans. on Robots and Automations, vol. 12, no. 1, pp. 47-62, 1996.
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5. W. Kim, D. H. Kim, B. Yi, B. You, and S. Yang, "Design of an Omni-directional Mobile Robot with 3 Caster Wheels," Trans. on Control, Automation, and Systems Engineering, vol. 3, no. 4, pp. 210-216, 2001.
6. S. K. Saha, J. Angeles, and J. Darcovich, "The Design of Kinematically Isotropic Rolling Robots with Omnidirectional Wheels," Mechanism and Machine Theory, vol. 30, no. 8, pp. 1127-1137, 1995.