Kinematic modeling of mobile robot with rocker-bogle link structure

Taig Gi Gang; Soo Yeong Yi

doi:10.1117/12.664769

Kinematic modeling of mobile robot with rocker-bogle link structure

Taig Gi Gang, Soo Yeong Yi

Dept. of Electrical and Information Engineering

Jeonbuk National University

Research output: Contribution to journal › Conference article › peer-review

Abstract

A method for kinematic modeling of a mobile robot with rocker-bogie link mechanism was described. By using the well-known concept of the instantaneous coordinates, it derives the kinematic model for the full six degree of freedom motion including the x, y, and z motions and the pitch, roll, and yaw rotations. The kinematic model here implies both of the forward and the inverse kinematic equations. The forward kinematic equation with the wheel Jacobian matrices can be used to obtain the robot position and orientation from the measured wheel velocities and the rocker-bogie joint angles. On the contrary, the inverse kinematic equation implies a resulting robot motions consisting of body velocity and turning rate from the individual wheel velocities. Through the computer simulation, the kinematic model of the mobile robot was verified.

Original language	English
Article number	60423M
Journal	Proceedings of SPIE - The International Society for Optical Engineering
Volume	6042 II
DOIs	https://doi.org/10.1117/12.664769
State	Published - 2005
Event	ICMIT 2005: Control Systems and Robotics - Chongging, China Duration: 20 Sep 2005 → 23 Sep 2005

Keywords

Instantaneous coordinates
Jacobian
Kinematic
Rocker-bogie

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10.1117/12.664769

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title = "Kinematic modeling of mobile robot with rocker-bogle link structure",

abstract = "A method for kinematic modeling of a mobile robot with rocker-bogie link mechanism was described. By using the well-known concept of the instantaneous coordinates, it derives the kinematic model for the full six degree of freedom motion including the x, y, and z motions and the pitch, roll, and yaw rotations. The kinematic model here implies both of the forward and the inverse kinematic equations. The forward kinematic equation with the wheel Jacobian matrices can be used to obtain the robot position and orientation from the measured wheel velocities and the rocker-bogie joint angles. On the contrary, the inverse kinematic equation implies a resulting robot motions consisting of body velocity and turning rate from the individual wheel velocities. Through the computer simulation, the kinematic model of the mobile robot was verified.",

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T1 - Kinematic modeling of mobile robot with rocker-bogle link structure

AU - Gang, Taig Gi

AU - Yi, Soo Yeong

PY - 2005

Y1 - 2005

N2 - A method for kinematic modeling of a mobile robot with rocker-bogie link mechanism was described. By using the well-known concept of the instantaneous coordinates, it derives the kinematic model for the full six degree of freedom motion including the x, y, and z motions and the pitch, roll, and yaw rotations. The kinematic model here implies both of the forward and the inverse kinematic equations. The forward kinematic equation with the wheel Jacobian matrices can be used to obtain the robot position and orientation from the measured wheel velocities and the rocker-bogie joint angles. On the contrary, the inverse kinematic equation implies a resulting robot motions consisting of body velocity and turning rate from the individual wheel velocities. Through the computer simulation, the kinematic model of the mobile robot was verified.

AB - A method for kinematic modeling of a mobile robot with rocker-bogie link mechanism was described. By using the well-known concept of the instantaneous coordinates, it derives the kinematic model for the full six degree of freedom motion including the x, y, and z motions and the pitch, roll, and yaw rotations. The kinematic model here implies both of the forward and the inverse kinematic equations. The forward kinematic equation with the wheel Jacobian matrices can be used to obtain the robot position and orientation from the measured wheel velocities and the rocker-bogie joint angles. On the contrary, the inverse kinematic equation implies a resulting robot motions consisting of body velocity and turning rate from the individual wheel velocities. Through the computer simulation, the kinematic model of the mobile robot was verified.

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JO - Proceedings of SPIE - The International Society for Optical Engineering

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T2 - ICMIT 2005: Control Systems and Robotics

Y2 - 20 September 2005 through 23 September 2005

ER -

Kinematic modeling of mobile robot with rocker-bogle link structure

Abstract

Keywords

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