Singularity-free joint actuation in omnidirectional mobile platforms with powered offset caster wheels

Journal of Mechanical Design

Volumn 130, Issue 5, 2008, Pages

  Oetomo, Denny ^a   Ang, Marcelo H ^b  

^a UNIVERSITY OF MELBOURNE   (Australia)

^b NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

Author keywords

Actuaton strategy; Kinematic singularity; Omnidirectional motion; Parallel mechanism; Powered caster wheels

Indexed keywords

DESIGN; MECHANISMS; WHEELS;

ACTUATON STRATEGY; CASTER WHEELS; EQUATION OF MOTION; KINEMATIC SINGULARITY; MOBILE PLATFORM; OMNI-DIRECTIONAL MOTION; PARALLEL MECHANISMS; POWERED CASTER WHEEL; POWERED-CASTER; SINGULARITY-FREE;

EQUATIONS OF MOTION;

EID: 45149096585     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2885512     Document Type: Article

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