제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Study on Modeling of Mobile Robot Using Basic Homogeneous Transformation(BHT)

Basic Homogeneous Transformation(BHT)을 이용한 이동로봇 기구학 모델링에 대한 연구

  • 류신형 (연세대학교 전기, 컴퓨터공학과) ;
  • 이기철 (연세대학교 전기, 컴퓨터공학과) ;
  • 이성렬 (연세대학교 전기, 컴퓨터공학과) ;
  • 박민용 (연세대학교 전기, 컴퓨터공학과)
  • Published : 2000.10.01
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Abstract

In this paper the systematic modeling method of general wheeled mobile robot is proposed. First we show how to describe kinematics properties of wheeled mobile robot in the method formulating constraint equations using Basic Homogeneous Transform(BHT) which is used mainly the kinematics modeling of manipulator, and, under assumption it's provided part of nullvector in given constraint equations, find kinematics model of mobile robot related to actuators in real robot.

Keywords