Structural properties and classification of kinematic and dynamic models of wheeled mobile robots¶
Authors: G. Campion, G. Bastin, B. Dandrea-Novel
Published: 1996 (Journal Paper)
Source: IEEE Transactions on Robotics and Automation
DOI: 10.1109/70.481750
Summary¶
Abstract¶
The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomy, mobility and controllability, configuration of the motorization, and feedback equivalence.