抄録
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.
| 本文言語 | English |
|---|---|
| ページ | 253-257 |
| ページ数 | 5 |
| 出版ステータス | Published - 2004 7月 12 |
| イベント | Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan 継続期間: 2004 3月 25 → 2004 3月 28 |
Other
| Other | Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 |
|---|---|
| 国/地域 | Japan |
| City | Kawasaki |
| Period | 04/3/25 → 04/3/28 |
ASJC Scopus subject areas
- 制御およびシステム工学
- モデリングとシミュレーション
- コンピュータ サイエンスの応用
- 電子工学および電気工学