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Author Saha, S.K. ♦ Angeles, J. ♦ Darcovich, J.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1993
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Mobile robots ♦ Wheels ♦ Jacobian matrices ♦ Remotely operated vehicles ♦ Robot kinematics ♦ Orbital robotics ♦ Roundoff errors ♦ Mechanical engineering ♦ Gears ♦ Bicycles
Abstract Automatic guided vehicles with omnidirectional wheels have three degrees of freedom (DOF). Their full mobility is obtained by virtue of the free rollers around the periphery of the wheels. The choice of the orientation of the roller axes with respect to the wheel axis, along the wheel orientations with respect to the platform, the number of wheels, etc., are considered. A design approach based on the isotropy of the underlying Jacobian matrices is reported.
Description Author affiliation: Toshiba Corp., Kawasaki, Japan (Saha, S.K.)
ISBN 0818634502
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1993-05-02
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 462.07 kB
Page Count 6
Starting Page 283
Ending Page 288


Source: IEEE Xplore Digital Library