Proceedings of the Annual Conference of the IEEE Industrial Electronics Society · 2006 · 47 citations · 4 references
EngineeringMechanical EngineeringRobotics EngineeringMobile RoboticsRobot KinematicsRoboticsKinematic DesignKinematicsLocomotion DesignMobile Robot KinematicsMobile Robot LocomotionWheeled LocomotionControl Algorithm DevelopmentHolonomic Mobile RobotsLocomotionOmnidirectional Mobile RobotsOmnidirectional Robot KinematicsWheel DesignWheel ModelingWheeled Robot Locomotion
This paper presents the kinematical analysis of AZIMUT-2, a four steered wheeled mobile robot. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome a hyper-motorization issue inherent to the wheel's geometrical properties. Finally, we describe AZIMUT-2's two operational and seven locomotion modes, along with a control algorithm based on the kinematical model of the robot
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Introduction to robotics: Mechanics and control
M.G. Rodd · Automatica · 1987 · 1.5K citations
Engineering, Mechanical Engineering, Robotics Engineering +10