Mobility of a mobile robot

Hiromasa Takahashi, Mitsuharu Morisawa, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review

5 Citations (Scopus)

Abstract

Studies about a mobile robot have been developed. Especially, there have been a lot of theories about the trajectory planning of a mobile robot or noholonomic constraints or cracking controller. But it has not argue what posture is suitable for a mobile robot, because the index to decide the condition of a mobile robot has not been proposed. In this paper, "mobility of a mobile robot" is defined applying the notion of manipulabiliiy using "mobility Jacobian matrix" in order to evaluate the posture of a mobile robot. At first, two mobile robots, which are an actual posture and a desired posture, assume to be rotational motors and a stationary motor. These motors presume to be connected by a virtual link between two robots, so that two mobile robots presuppose to be a virtual manipulator. Then, mobility Jacobian matrix related in the velocity vector of an endeffector and rotational velocities of wheels is defined like Jacobian matrix of a manipulator. The results of simulations show the validity of the proposed definition and are prospected.

Original languageEnglish
Pages253-257
Number of pages5
Publication statusPublished - 2004 Jul 12
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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