Mobility of a mobile robot

Hiromasa Takahashi, Mitsuharu Morisawa, Kouhei Ohnishi

研究成果: Conference contribution

5 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルInternational Workshop on Advanced Motion Control, AMC
ページ253-257
ページ数5
出版物ステータスPublished - 2004
イベントProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
継続期間: 2004 3 252004 3 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
Japan
Kawasaki
期間04/3/2504/3/28

    フィンガープリント

ASJC Scopus subject areas

  • Engineering(all)

これを引用

Takahashi, H., Morisawa, M., & Ohnishi, K. (2004). Mobility of a mobile robot. : International Workshop on Advanced Motion Control, AMC (pp. 253-257)