Motion Synthesis of a Self-Steered Mobile Robot

Michael Roseborrough; Keith Phillips

doi:10.1117/12.937816

25 February 1987 Motion Synthesis of a Self-Steered Mobile Robot

Michael Roseborrough, Keith Phillips

Proceedings Volume 0727, Mobile Robots I; (1987) https://doi.org/10.1117/12.937816
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

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.

Citation Download Citation

Michael Roseborrough and Keith Phillips "Motion Synthesis of a Self-Steered Mobile Robot", Proc. SPIE 0727, Mobile Robots I, (25 February 1987); https://doi.org/10.1117/12.937816

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available