Structural properties and classification of kinematic and dynamic models of wheeled mobile robots

Campion, Guy;Bastin, Georges;Dandreanovel, B.
(1996) IEEE Transactions on Robotics and Automation — Vol. 12, n° 1, p. 47-62 (1996)

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  • Campion, GuyUCLouvain
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  • Bastin, Georgesorcid-logoUCLouvain
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  • Dandreanovel, B.
    Author
Abstract
The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomy, mobility and controllability, configuration of the motorization, and feedback equivalence.
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Campion, G., Bastin, G., & Dandreanovel, B. (1996). Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. IEEE Transactions on Robotics and Automation, 12(1), 47-62. https://doi.org/10.1109/70.481750 (Original work published 1996)