캐스터 바퀴를 갖는 전방향성 이동로봇의 국부 및 전역 등방성에 대한 분석
Local and Global Isotropy Analysis of Caster Wheeled Omnidirectional Mobile Robot
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Abstract
The omnidirectional mobility of a mobile robot may lose significance in motion control, unless the isotropy characteristics of the mechanism is maintained well. This paper investigates the local and global isotropy of an omnidirectional mobile robot with three caster wheels. All possible actuations with different number and combination of rotating and steering joints are considered. First, the kinematic model based on velocity decomposition and the algebraic conditions for the local isotropy are obtained. Second, the geometric conditions for the local isotropy are derived and all isotropic configurations are fully identified. Third, the global isotropy index is examined to determine the optimal parameters in terms of actuation set, characteristic length, and steering link length.
참고문헌 (6)
- R. Holmberg, "Design and Development for Powered-Caster Holonomic Mobile Robot" (2000), Ph. D. Thesis, Dept. of Mechanical Eng. Stanford University
- P. F. Muir, "Kinematic Modeling of Wheeled Mobile Robots", 4(2), pp.281~340 (1987)
- G. Campion, "Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots", 12(1), pp.47~62 (1996)
- T. Park, "Optimal Design and Actuator Sizing of Redundantly Actuated Omni-directional Mobile Robots", pp.732~737 (2002)
- S. Kim, "Isotropy Analysis of Caster Wheeled Omnidirectional Mobile Robot", pp.3093~3098 (2004)
- S. K. Saha, "The Design of Kinematically Isotropic Rolling Robots with Omnidirectional Wheels", 30(8), pp.1127~1137 (1995)