STRUCTURAL-PROPERTIES AND CLASSIFICATION OF KINEMATIC AND DYNAMIC-MODELS OF WHEELED MOBILE ROBOTS

Authors
CAMPION G BASTIN G DANDREANOVEL B
Citation
G. Campion et al., STRUCTURAL-PROPERTIES AND CLASSIFICATION OF KINEMATIC AND DYNAMIC-MODELS OF WHEELED MOBILE ROBOTS, IEEE transactions on robotics and automation, 12(1), 1996, pp. 47-62
Citations number
27
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on robotics and automation → ACNP
ISSN journal
1042296X
Volume
12
Issue
1
Year of publication
1996
Pages
47 - 62
Database
ISI
SICI code
1042-296X(1996)12:1<47:SACOKA>2.0.ZU;2-G
Abstract
The structure of the kinematic and dynamic models of wheeled mobile ro bots is analyzed. It is shown that, for a large class of possible conf igurations, they can be classified into five types, characterized by g eneric structures of the model equations. For each type of model the f ollowing questions are addressed: (ir)reducibility and (non)holonomy, mobility and controllability, configuration of the motorization, and f eedback equivalence.