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Volume 24 Issue 3
Mar.  1998
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Journal of Beijing University of Aeronautics and Astronautics  > 1998  >  24(3): 339-341.
Lu Zhen, Yan Biao. Kinematic Inverse Problem and Stability of Wheeled Mobile Robots[J]. Journal of Beijing University of Aeronautics and Astronautics, 1998, 24(3): 339-341. (in Chinese)
Citation: Lu Zhen, Yan Biao. Kinematic Inverse Problem and Stability of Wheeled Mobile Robots[J]. Journal of Beijing University of Aeronautics and Astronautics, 1998, 24(3): 339-341. (in Chinese)
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Kinematic Inverse Problem and Stability of Wheeled Mobile Robots

  • Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electrical Engineering

  • Received Date: 07 Oct 1996
  • Publish Date: 31 Mar 1998
    Abstract
  • Mobile robot can be regarded as the combination of a manipulator and a walking machine.It has more manoeuvrable and larger working-space.Thus,it is suitable for long-range operation both in the space and the ground.The most common used mobile robots are wheeled mobile robots(WMR).The wheeles lead to the non-holomotic constraints.In this paper,the non-holomotic constraints and kinematics geometry are analysed to formulate two solutions of the inverse-kinematic problems of WMR.Secondly,a method on controlling the self-motion of WMR is proposed to resolve the stability of the moving platform,which is verify by simulation.

     

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    • References(1)
  • 1 .Weisbin,Montemerlo M.NASA's telerobotics research program.Proc of 1992 IEEE Int Conf on Robotics and Automation,1992.2653~2666 2. Reister D B,Lenhart S M.Time-optimal paths for high-speed maneuvering.Int Jnl of Robotics Research, 1995(2):184~194 3. Kankyama. Two dimensional wheeled vehicle kinematics.Proc of 1994 IEEE Int Conf on Robotics and Automation,1994.3079~3084 4. Zhao Y,Bement L.Kinematics, dynamics and control of wheeled mobile robots.Proc of 1992 IEEE Int Conf on Robotics and Automation,1992.91~96 5. 梅凤翔.非完整系统力学.北京:北京工业大学出版社,1991
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