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25 February 1987 Motion Synthesis of a Self-Steered Mobile Robot
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Proceedings Volume 0727, Mobile Robots I; (1987)
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States
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.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Michael Roseborrough and Keith Phillips "Motion Synthesis of a Self-Steered Mobile Robot", Proc. SPIE 0727, Mobile Robots I, (25 February 1987);

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