This paper presents the kinematical analysis of AZIMUT-2, a four steered wheeled mobile robot. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome a hyper-motorization issue inherent to the wheel's geometrical properties. Finally, we describe AZIMUT-2's two operational and seven locomotion modes, along with a control algorithm based on the kinematical model of the robot


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    Titel :

    Design and Control of a Four Steered Wheeled Mobile Robot


    Beteiligte:
    Lauria, M. (Autor:in) / Nadeau, I. (Autor:in) / Lepage, P. (Autor:in) / Morin, Y. (Autor:in) / Giguere, P. (Autor:in) / Gagnon, F. (Autor:in) / Letourneau, D. (Autor:in) / Michaud, F. (Autor:in)


    Erscheinungsdatum :

    01.11.2006


    Format / Umfang :

    6492561 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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