Kinematic modeling of mobile robot with rocker-bogie link structure

Taig-Gi Gang; Soo-Yeong Yi

doi:10.1117/12.664769

2 May 2006 Kinematic modeling of mobile robot with rocker-bogie link structure

Taig-Gi Gang, Soo-Yeong Yi

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60423M (2006) https://doi.org/10.1117/12.664769
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

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.

Citation Download Citation

Taig-Gi Gang and Soo-Yeong Yi "Kinematic modeling of mobile robot with rocker-bogie link structure", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423M (2 May 2006); https://doi.org/10.1117/12.664769

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