Skip to main content
Log in

Screw-based kinematic modeling and geometric analysis of planar mobile robots

  • Regular Papers
  • Robotics and Automation
  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

Typical mobile robots can be modeled as parallel mechanisms by employing an interfacing variable between the ground and the wheels. Based on this conception, the screw theory was employed in the following work as an alternative approach in the modeling of such parallel-natured mobile robots. This theory allows for a geometric analysis of mobile mechanisms. As a result, the computational load in the derivation of a Jacobian model can be reduced, the kinematic model for different sets of inputs can be easily obtained, and an equivalent serial-chain model can be analyzed. Two mobile robots were examined as exemplary models. The proposed approach can also be applied to kinematic modeling and the analysis of general types of mobile robots.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or Ebook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Similar content being viewed by others

References

  1. P. F. Muir and C. P. Newman, “Kinematic modeling of wheeled mobile robot,” Journal of Robotic System, vol. 4, no. 2, pp. 281–340, 1987.

    Article  Google Scholar 

  2. S. K. Saha and J. Angeles, “Kinematics and dynamics of a three-wheeled 2-DOF AVG,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1572–1577, 1989.

  3. C. Campion, G. Bastin, and B. D’Andrea-Novel, “Structural properties and classification of kinematics and dynamics models of wheeled mobile robot,” IEEE Trans. on Robotics and Automation, vol. 4, no. 2, pp. 281–340, 1987.

    Google Scholar 

  4. D.-S. Kim, W. H. Kwon, and H. S. Park, “Geometric kinematics and applications of a mobile robot,” Int. J. Control, Automation, and Systems, vol. 1, no. 3, pp. 376–384, 2003.

    MathSciNet  Google Scholar 

  5. B.-J. Yi and W. K. Kim, “Kinematic modeling of omnidirectional mobile robots as parallel manipulator,” Journal of Robotic Systems, pp. 172–178, 2003.

  6. W. K. Kim, B.-J Yi, and D. J. Lim, “Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates,” Journal of Robotic Systems, vol. 21, no. 6, pp. 301–322, 2004.

    Article  MATH  Google Scholar 

  7. J. H. Chung, B.-J. Yi, W. K. Kim, and S.-Y. Han, “singularity-free dynamic modeling including wheel dynamics for an omni-directional mobile robot with three caster wheels,” Int. J. Control, Automation, and Systems, vol. 6, no. 1, pp. 88–100, 2008.

    Google Scholar 

  8. J. Duffy, Statics and Kinematics with Applications to Robotics, Cambridge University Press, Cambridge, 1995.

    Google Scholar 

  9. R. S. Ball, A Treatise on the Theory of Screws, Cambridge University Press, Cambridge, 1900.

    Google Scholar 

  10. U.-K. Lee and C.-S. Han, “A method for predicting dynamic behaviour characteristics of a vehicle using the screw theory -part 1,” Proc. of the Institution of Mechanical Engineers, Part D, Journal of Automobile Eng., vol. 222, no. 1, pp. 65–77, 2008.

    Article  MathSciNet  Google Scholar 

  11. J. Wit, C. D. Crane, and D. Armstrong, “Autonomous ground vehicle path tracking,” Journal of Robotic Systems, vol. 21, no. 8, pp. 439–449, 2004.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Whee Kuk Kim.

Additional information

Recommended by Editor Jae-Bok Song. This work was partially supported by the Korea Science and Engineering Foundation (KOSEF) grant funded by the Korea government (R01-2008-000-11742-0), partially supported by the GRRC program of Gyeonggi province (2008-041-0003 -0001), partially supported by the research fund of HYU (HYU-2008-T), partially supported by the Ministry of Knowledge Economy (MKE) and Korea Industrial Technology Foundation (KOTEF) through the Human Resource Training Project for Strategic Technology, and the outcome of a Manpower Development Program for Energy & Resources supported by the Ministry of Knowledge and Economy (MKE), and partially supported by Korea University Grant.

Byung-Ju Yi received the B.S. degree in Mechanical Engineering from Hanyang University in 1984. He received the Master and Ph.D. in Mechanical Engineering of The University of Texas at Austin in 1986 and 1991, respectively. His research interests include robot kinematics, mechanism design, and medical robotics.

Wheekuk Kim received the B.S. degree in Mechanical Engineering from Korea University in 1980. He received the Master and Ph.D. in Mechanical Engineering of The University of Texas at Austin in 1985 and 1990, respectively. His research interests include robot kinematics, mechanism design, and robot control.

Seje Oh received the B.S. degree in School of Electrical Engineering and Computer Science from Hanyang University in 2005. He received the Master in Department of Electronics, Electrical, Control and Instrumentation Engineering in 2007. Currently, he works at the Central Laboratory of LS Emtron. His research interests include mobile robot, military robot, and GHP(Gas Engine Driven Heat Pump).

Rights and permissions

Reprints and permissions

About this article

Cite this article

Yi, BJ., Kim, W.K. & Oh, S. Screw-based kinematic modeling and geometric analysis of planar mobile robots. Int. J. Control Autom. Syst. 7, 962–970 (2009). https://doi.org/10.1007/s12555-009-0613-x

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12555-009-0613-x

Keywords

Navigation