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Proceedings Paper

Motion Synthesis of a Self-Steered Mobile Robot
Author(s): Michael Roseborrough; Keith Phillips
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Paper Abstract

Until the late 1950's there was an almost exclusive use of graphical methods in the kinematic analysis and synthesis of mechanisms. With the increasing availability of high-speed digital computers there was a major reawakening of interest in a field con-sidered by many to be mature and dormant. Today the birth of advanced robotic systems has heightened the interest in applications of kinematic analysis and synthesis. This paper discusses the application of kinematics to the path planning model of a three wheeled, self-steering, mobile robot. The problem is formulated through a kinematic analysis of the path curvature and the synthesis of a set of equivalent linkages. The equivalent linkages facilitate a direct relationship between the path and the robot steering control mechanism. This is accomplished through the kinematic param-eters displacement, velocity and acceleration. The mathematical model is presented in a generalized format with the robot represented as a rigid body. Examples are shown which solve the problem of moving the robot through a crowded environment and arriving at its destination in a predetermined orientation.

Paper Details

Date Published: 25 February 1987
PDF: 6 pages
Proc. SPIE 0727, Mobile Robots I, (25 February 1987); doi: 10.1117/12.937816
Show Author Affiliations
Michael Roseborrough, New Mexico State University (United States)
Keith Phillips, New Mexico State University (United States)

Published in SPIE Proceedings Vol. 0727:
Mobile Robots I
Nelson Marquina; William J. Wolfe, Editor(s)

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