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International Conference on Intelligent Robotics and Applications

ICIRA 2008: Intelligent Robotics and Applications pp 814–823Cite as

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

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5314))

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.

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References

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Author information

Authors and Affiliations

  1. College of Mechanics and Electrics Engineering, Harbin Engineering University, Harbin, 150001, China

    He Xu, Dawei Tan, Gao-liang Peng & Shuanghe Yu

  2. Institute of Intelligent Power Electronics, Helsinki University of Technology, FI-02150, Espoo, Finland

    X. Z. Gao

Authors
  1. He Xu
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  2. Dawei Tan
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  3. Gao-liang Peng
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  4. X. Z. Gao
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  5. Shuanghe Yu
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong , Yongan Huang  & Youlun Xiong ,  & 

  2. Institute of Industrial Research, University of Portsmouth, Burnaby Building, PO1 3QL, Portsmouth, UK

    Honghai Liu

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© 2008 Springer-Verlag Berlin Heidelberg

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Cite this paper

Xu, H., Tan, D., Peng, Gl., Gao, X.Z., Yu, S. (2008). Kinematics of Robot with Castered-and-Cambered Wheels with Respect to Drive Configuration Topology. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_88

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  • DOI: https://doi.org/10.1007/978-3-540-88513-9_88

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88512-2

  • Online ISBN: 978-3-540-88513-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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