Structural properties and classification of kinematic and dynamic models of wheeled mobile robots

被引：680

作者：

Campion, G ^{[1
]}

Bastin, G ^{[1
]}

DAndreaNovel, B ^{[1
]}

机构：

[1] ECOLE MINES PARIS, CTR AUTOMAT & SYST, F-77300 FONTAINEBLEAU, FRANCE

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1996年 / 12卷 / 01期

关键词：

D O I：

10.1109/70.481750

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomy, mobility and controllability, configuration of the motorization, and feedback equivalence.

引用

页码：47 / 62

页数：16

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