Kinematic analysis of a mobile robot with two-body frames

Jingguo Wang, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)

Abstract

This paper presents a kind of modeling method for a two-body mobile robot, provides with its kinematic structure parameters and analyzes the forward kinematics and inverse kinematics. Considering the case of surpassing obstacles actively for this two-body mobile robot, the solutions of inverse kinematics are given out based on the geometric approach. Surpassing obstacles and turning analysis are made and the simulation is undertaken via the dynamics software. Three different turning modes are considered in this paper and a lot of trials are compared based on different speeds of two-side wheels. The effect of included angle between front body and rear body on the turning ability is also verified through computer simulations, at last the simulation results demonstrate the effectiveness of this two-body mobile robot in climbing over obstacles.
Original languageEnglish
Title of host publicationProceedings of the 2008 IEEE International Conference on Information and Automation, ICIA 2008
Pages1073-1078
Number of pages6
DOIs
Publication statusPublished - 28 Oct 2008
Externally publishedYes
Event2008 IEEE International Conference on Information and Automation, ICIA 2008 - Zhangjiajie, Hunan, China
Duration: 20 Jun 200823 Jun 2008

Conference

Conference2008 IEEE International Conference on Information and Automation, ICIA 2008
CountryChina
CityZhangjiajie, Hunan
Period20/06/0823/06/08

Keywords

  • Inverse kinematics
  • Mobile robot
  • Two-body frame
  • Wheeled differential steering

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

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