Abstract
Kinematic modeling is a prerequisite for motion planning and the control of mobile robots. In this paper, we proposed a new method of kinematic modeling for a type of mobile robot based on differential motion transformation. The differential motion implies a small translation and rotation in three-dimensional space in a small time interval. Thus, transformation of the differential motion gives the velocity relationship, i.e., Jacobian between two coordinate frames. Since the theory of the differential motion transformation is well-developed, it is useful for the systematic velocity kinematic modeling of mobile robots. In order to show the validity for application of the differential motion transformation, we obtained velocity kinematic models for a type of exemplar mobile robot including spherical ballbots.
| Original language | English |
|---|---|
| Pages (from-to) | 1145-1151 |
| Number of pages | 7 |
| Journal | Journal of Institute of Control, Robotics and Systems |
| Volume | 19 |
| Issue number | 12 |
| DOIs | |
| State | Published - 2013 |
Keywords
- Ballbot
- Coordinate transform
- Differential motion transformation
- Kinematics
- Wheeled mobile robot