Name
Abstract | ||
|---|---|---|
Automatic guided vehicles with omnidirectional wheels have three degrees of freedom (DOF), their full mobility being 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 with the wheel orientations with respect to the platform, the number of wheels, etc., are de- sign issues considered here. A design approach based on the isotropy of the underlying Jacobian matrices is reported in this paper. |
Year | DOI | Venue |
|---|---|---|
1993 | 10.1109/ROBOT.1993.291996 | Atlanta, GA |
Keywords | Field | DocType |
automatic guided vehicles,kinematics,matrix algebra,mobile robots,3-DOF isotropic mobile robot,Jacobian matrices,automatic guided vehicles,free rollers,kinematic design,number of wheels,omnidirectional wheels,roller axes,wheel axis,wheel orientations | Omnidirectional antenna,Isotropy,Kinematics,Jacobian matrix and determinant,Control theory,Matrix (mathematics),Matrix algebra,Control engineering,Engineering,Mobile robot | Conference |
Citations | PageRank | References |
3 | 0.75 | 1 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Subir Kumar Saha | 1 | 43 | 14.53 |
| Jorge Angeles | 2 | 147 | 17.63 |
| John Darcovich | 3 | 3 | 0.75 |