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|Title:||Singularity-free joint actuation in omnidirectional mobile platforms with powered offset caster wheels|
Ang Jr., M.H.
Powered caster wheels
|Citation:||Oetomo, D., Ang Jr., M.H. (2008-05). Singularity-free joint actuation in omnidirectional mobile platforms with powered offset caster wheels. Journal of Mechanical Design, Transactions of the ASME 130 (5) : -. ScholarBank@NUS Repository. https://doi.org/10.1115/1.2885512|
|Abstract:||This paper presents the analysis of singularity and motion capability of a mobile platform articulated by offset powered caster wheels. Specifically, it presents the analysis of the equations of motion resulting in the sufficient and necessary actuation condition to yield a workspace that is entirely free of singular configurations. This paper shows that powering both the steer and drive joints on two sets of offset caster wheels in a mobile platform guarantees a singularity-free condition throughout the entire workspace. Analysis and discussion on equations of motions that lead to this result are presented. Copyright © 2008 by ASME.|
|Source Title:||Journal of Mechanical Design, Transactions of the ASME|
|Appears in Collections:||Staff Publications|
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