MANIPULATION
Maneuvering Strategies for Four-Wheel Drive, Four-Wheel Steer Mobile Robots Using Curvatures Based on Weingarten-Maps
M. Kursat Yalcin, S. Murat Yeşiloğlu, Mustafa Dal, Hakan Temeltaş
- Year
- 2006
- Citations
- 7
Abstract
Using the method known as Weingarten map, instantaneous center of rotation (ICR) of a four-wheel-drive & four-wheel-steer (4WD/4WS) mechanism is obtained for a predefined path. Kinematical model is obtained based on multiple manipulators with constraints on a common base approach
Keywords
Mechanism (biology)Rotation (mathematics)Mobile robotInstant centre of rotationRobotBase (topology)Computer scienceControl theory (sociology)Path (computing)Control engineering
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