Kinematics Analysis of a Six-Wheeled Mobile Robot
Published: Oct 1, 2006
Abstract
The paper analysis a kinematic model for a wheeled mobile robot (WMR) traversing uneven terrain. A new form of the kinematics for wheeled mobile robot is deduced, through analyzing Jacobian matrices of individual wheel and rearranging the variables. The performance and characters of the kinematic formulation are explained using physical conception. A new method is proposed to set up the kinematics formulation for wheeled mobile robots. After...
Paper Details
Title
Kinematics Analysis of a Six-Wheeled Mobile Robot
Published Date
Oct 1, 2006
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