2002•Unpublished venueRequires access

Kinematics for modular wheeled mobile robots

T.P. Burke, Hugh Durrant‐Whyte

Abstract

The kinematics for modular wheeled mobile robots is presented. Basic theory of planar motion is used to derive inverse and forward kinematics. The inverse kinematics is inherently modular, whereas the information form of a least-squares estimator is required to completely modularize the forward kinematics. An implementation is described and results are shown.

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Available abstract

Key concepts: Inverse kinematics, Kinematics, Modular design, Forward kinematics, Self-reconfiguring modular robot, Computer science, Kinematics equations, Robot kinematics