Kinematics of Robot with Castered-and-Cambered Wheels with Respect to Drive Configuration Topology

  • Authors:

  • He Xu;Dawei Tan;Gao-Liang Peng;X. Z. Gao;Shuanghe Yu

  • Affiliations:

  • College of Mechanics and Electrics Engineering, Harbin Engineering University, Harbin, China 150001;College of Mechanics and Electrics Engineering, Harbin Engineering University, Harbin, China 150001;College of Mechanics and Electrics Engineering, Harbin Engineering University, Harbin, China 150001;Institute of Intelligent Power Electronics, Helsinki University of Technology, Espoo, Finland FI-02150;College of Mechanics and Electrics Engineering, Harbin Engineering University, Harbin, China 150001

  • Venue:
  • ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
  • Year:
  • 2008

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Abstract

A universal 3-D kinematic model is first proposed towards a four-wheeled robot with casters and cambers. The effects of caster and camber are next analyzed. Based on closed-chain space and Instantaneous Superposition Frame (ISR), a 3-D kinematical model of the articulated mobile robots with caster-cambered wheels and individual steering mechanism is built. The backward kinematics and estimation of unmeasurable variables are presented. Finally, a general solution to the backward kinematics for the drive configuration topology is discussed analytically.