Skip to content
University of Maryland LibrariesDigital Repository at the University of Maryland
    • Login
    View Item 
    •   DRUM
    • A. James Clark School of Engineering
    • Institute for Systems Research Technical Reports
    • View Item
    •   DRUM
    • A. James Clark School of Engineering
    • Institute for Systems Research Technical Reports
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    On the Kinematics and Control of Wheeled Mobile Robots.

    Thumbnail
    View/Open
    TR_87-196.pdf (858.4Kb)
    No. of downloads: 606

    Date
    1987
    Author
    Alexander, James C.
    Maddocks, J.H.
    Metadata
    Show full item record
    Abstract
    A wheeled mobile robot is here modelled as a planar rigid body that rides on an arbitrary number of wheels. The connections between the rigid body motion of the robot, and the steering and driving controls of wheels are developed. In particular, conditions are obtained that guarantee that rolling without skidding or sliding can occur. Explicit differential equations are derived to describe the rigid body motions that arise from rolling trajectories. The simplest wheel configuration that permits control of arbitrary rigid body motions is determined. The question of slippage due to misalignment of the wheels is investigated based on a physical model of friction. Examples are presented to illustrate the models.
    URI
    http://hdl.handle.net/1903/4699
    Collections
    • Institute for Systems Research Technical Reports

    DRUM is brought to you by the University of Maryland Libraries
    University of Maryland, College Park, MD 20742-7011 (301)314-1328.
    Please send us your comments.
    Web Accessibility
     

     

    Browse

    All of DRUMCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

    My Account

    LoginRegister
    Pages
    About DRUMAbout Download Statistics

    DRUM is brought to you by the University of Maryland Libraries
    University of Maryland, College Park, MD 20742-7011 (301)314-1328.
    Please send us your comments.
    Web Accessibility