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.
|ホスト出版物のタイトル||International Workshop on Advanced Motion Control, AMC|
|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 25 → 2004 3 28
|Other||Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04|
|期間||04/3/25 → 04/3/28|
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