The kinematics for redundantly actuated omnidirectional mobile robots

DOI10.1002/rob.10039zbMath1029.70002OpenAlexW2036571287MaRDI QIDQ4785079

Byung-Ju Yi, Wheekuk Kim

Publication date: 17 December 2002

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.10039

zbMATH Keywords

kinematicssingularity analysismobility analysisredundantly actuated systemsload distributionsomnidirectional mobile robots

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (1)

Generic differential kinematic modeling of articulated mobile robots

Cites Work

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• Geometric analysis of antagonistic stiffness in redundantly actuated parallel mechanisms
• Conditions for line-based singularities in spatial platform manipulators

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