Swedish Wheeled Omnidirectional Mobile Robots: Kinematics Analysis and Control

Indiveri G.

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Swedish Wheeled Omnidirectional Mobile Robots: Kinematics Analysis and Control

机译：瑞典轮式全方位移动机器人：运动学分析与控制

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摘要

Swedish wheeled robots have received growing attention over the last few years. Their kinematic models have interesting properties in terms of mobility and possible singularities. This paper addresses the issue of kinematic modeling, singularity analysis, and motion control for a generic vehicle equipped with ${bm N}$ Swedish wheels.

机译：在过去的几年中，瑞典轮式机器人受到越来越多的关注。他们的运动学模型在移动性和可能的奇异性方面具有有趣的特性。本文研究了装备有{bm N} $瑞典车轮的通用汽车的运动学建模，奇异性分析和运动控制的问题。

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《IEEE Transactions on Robotics》 |2009年第1期|p.164-171|共8页
作者
Indiveri G.;
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原文格式 PDF
正文语种 eng
中图分类机器人技术;
关键词
Mobile robot kinematics; mobile robots; motion control; wheeled robots;

机译：移动机器人运动学;移动机器人;运动控制;轮式机器人;

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专利

1. Design and Control of a Four-Wheeled Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels [J] . Jae-Bok Song, Kyung-Seok Byun Journal of robotic systems . 2004,第4期

机译：具有转向全向轮的四轮全向移动机器人的设计与控制
2. Kinematic Dexterity Maximization of an Omnidirectional Wheeled Mobile Robot: A Comparison of Metaheuristic and SQP Algorithms [J] . Villarreal-Cervantes Miguel G., Cruz-Villar Carlos A., Alvarez-Gallegos Jaime, International Journal of Advanced Robotic Systems . 2012,第期

机译：全向轮式移动机器人的运动灵活性最大化：成群质训练和SQP算法的比较
3. Kinematics Modeling of an Omnidirectional Autonomous Mobile Robot with Castor Wheels [J] . Peng Yiqiang 现代交通学报（英文版） . 2006,第004期

机译：带脚轮的全向自主移动机器人的运动学建模
4. Design of optimal kinematic controller based on GA-ACO hybrid algorithm for four-wheeled omnidirectional mobile robots [C] . Huang Hsu-Chih 8th Asian Control Conference, 2011 . 2011

机译：基于GA-ACO混合算法的四轮全向移动机器人最优运动学控制器设计
5. Control of a reconfigurable, redundant ball wheel drive mechanism based omnidirectional mobile platform. [D] . Lee, Young-Chul. 2006

机译：基于全向移动平台的可重构冗余球驱动机构的控制。
6. Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels [O] . A. P. Mohanraj, A. Elango, Mutra Chanakya Reddy 2016

机译：三角结构三轮全向移动机器人通过选择两个车轮之间的角度进行前后运动分析
7. Kinematic Analysis of an Omnidirectional Mobile Robot with MY Wheels [O] . Ye ZL(叶长龙), Li HY(李怀勇), Ma SG(马书根) 2011

机译：带有MY轮的全向移动机器人的运动学分析
8. Kinematics and Control of Wheeled Mobile Robots. [R] . Alexander, J. C., Maddocks, J. H. 1987

机译：轮式移动机器人的运动学与控制。

Swedish Wheeled Omnidirectional Mobile Robots: Kinematics Analysis and Control

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