Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates
Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates
复制标题
增广广义坐标传递法移动机器人运动建模
DOI：
10.1109/robot.2001.932983
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
D. Lim
中科院分区：
文献类型：
--
作者：
W. Kim;B. Yi;D. Lim
提出了一种利用增广变量匹配移动机器人各串行子链输入和输出向量的维度的运动学建模方法。首先，建立了各种类型车轮的运动学模型，包括打滑速度和打滑速度。在此基础上，采用广义坐标增广的方法，建立了机器人的逆运动学和正运动学模型。由增广矩阵的正逆得到的运动学模型提供了精确的解，而基于伪逆法的建模方法提供了近似解。最后，给出了两个典型的差动驱动移动机器人的运动学模型，验证了该建模方法的有效性。
A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models. The kinematic models derived by the direct inverse of the augmented matrices provide an accurate solution, which was not achievable by the modeling method based on the pseudo-inverse method which provides an approximate solution. Lastly, two kinematic models for typical, differential-driven mobile robots are presented to show the effectiveness of the proposed modeling method.