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Kinematics analysis of a six-wheeled mobile robot
Chang Y(常勇); Tan DL(谈大龙); Wang HG(王洪光); Ma SG(马书根)
Department机器人学研究室
Conference NameIEEE/RSJ International Conference on Intelligent Robots and Systems
Conference DateOctober 9-13, 2006
Conference PlaceBeijing, China
Author of SourceIEEE, RSJ
Source Publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
PublisherIEEE
Publication PlaceNEW YORK
2006
Pages4169-4174
Indexed ByEI ; CPCI(ISTP)
EI Accession number20072510665281
WOS IDWOS:000245452404047
Contribution Rank1
ISBN978-1-4244-0258-8
AbstractThe paper analysts a kinematic model for a wheeled mobile robot (WMR) traversing uneven terrain. A new form of the kinematics for wheeled mobile robot is deduced, through analyzing Jacobian matrices of individual wheel and rearranging the variables. The performance and characters of the kinematic formulation are explained using physical conception. A new method is proposed to set up the kinematics formulation for wheeled mobile robots. After analyzing the actuation kinematics, simulation results are provided to validate the motion of wheeled mobile robot over a special terrain.
Language英语
Citation statistics
Cited Times:9[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8750
Collection机器人学研究室
Affiliation1.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Organization for Promotion, COE Program, Ritsumeikan University, Shiga-ken 525-8577, Japan
3.Graduate School, Chinese Academy of Sciences, Beijing 100039, China
Recommended Citation
GB/T 7714
Chang Y,Tan DL,Wang HG,et al. Kinematics analysis of a six-wheeled mobile robot[C]//IEEE, RSJ. NEW YORK:IEEE,2006:4169-4174.
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