제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Singularity Analysis of Mobile Robots

모바일 로봇의 특이형상 분석

  • 김도형 (고려대학교 제어계측공학과) ;
  • 김희국 (고려대학교 제어계측공학과) ;
  • 이병주 (한양대학교 전자콤퓨터공학부)
  • Published : 2000.10.01
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Abstract

In this study, singularity of two types of mobile robots for various input joints are investigated: One is the mobile robot with three caster wheels and the other is the mobile robot with two conventional wheels and one caster wheel. Kinematic models are derived via the transfer method of generalized coordinates. Then, determinants of the Jacobian of the mobile robots are used to identify the singularity configurations.

Keywords