International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Complete Identification of Isotropic Configurations of a Caster Wheeled Mobile Robot with Nonredundant/Redundant Actuation

  • Kim Sung-Bok (School of Electronics and Information Engineering, Hankuk University of Foreign Studies) ;
  • Moon Byung-Kwon (School of Electronics and Information Engineering, Hankuk University of Foreign Studies)
  • Published : 2006.08.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we present the complete isotropy analysis of a caster wheeled omnidirectional mobile robot (COMR) with nonredundant/redundant actuation. It is desirable for robust motion control to keep a COMR close to the isotropy but away from the singularity as much as possible. First, with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, a general form of the isotropy conditions of a COMR is given in terms of physically meaningful vector quantities which specify the wheel configuration. Third, for all possible nonredundant and redundant actuation sets, the algebraic expressions of the isotropy conditions are derived so as to identify the isotropic configurations of a COMR. Fourth, the number of the isotropic configurations, the isotropic characteristic length, and the optimal initial configuration are discussed.

Keywords

References

  1. P. F. Muir and C. P. Neuman, 'Kinematic modeling of wheeled mobile robots,' Journal of Robotic Systems, vol. 4, no. 2, pp. 281-340, 1987 https://doi.org/10.1002/rob.4620040209
  2. W. Kim, B. Yi, and D. Lim, 'Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates,' Journal of Robotic Systems, vol. 21, no. 6, pp. 301-322, 2004 https://doi.org/10.1002/rob.20015
  3. R. Holmberg, Design and Development for Powered-caster Holonomic Mobile Robot, Ph.D. Thesis, Dept. of Mechanical Eng., Stanford University, 2000
  4. 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 https://doi.org/10.1109/70.481750
  5. W. Kim, D. 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 (in Korean), vol. 3, no. 4, pp. 210-216, 2001
  6. S. Kim and H. Kim, ' Isotropy analysis of caster wheeled omnidirectional mobile robot,' Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3093-3098, 2004
  7. 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 https://doi.org/10.1016/0094-114X(95)00042-W
  8. C. Gosselin and J. Angeles, 'Singularity anaysis of closed-loop kinematic chains,' IEEE Trans. on Robots and Automations, vol. 6, no. 3, pp. 281-290, 1996
  9. T. Yoshikawa, 'Analysis and control of robot manipulators with redundancy,' Robotics Research, pp. 735-747, MIT Press, 1984