Please use this identifier to cite or link to this item: https://doi.org/10.1109/IROS.2005.1545385
Title: Omnidirectional mobile robots with powered caster wheels: Design guidelines from kinematic isotropy analysis
Authors: Oetomo, D.
Li, Y.P.
Ang Jr., M.H. 
Lim, C.W.
Keywords: Design optimization
Kinematic isotropy
Powered caster wheels
Issue Date: 2005
Source: Oetomo, D., Li, Y.P., Ang Jr., M.H., Lim, C.W. (2005). Omnidirectional mobile robots with powered caster wheels: Design guidelines from kinematic isotropy analysis. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS : 2708-2713. ScholarBank@NUS Repository. https://doi.org/10.1109/IROS.2005.1545385
Abstract: Kinematic isotropy of omnidirectional mobile robots with powered caster wheels is discussed and utilized in optimizing the design parameters of the robots. The analysis is done to cover the most general cases, by observing the mathematical expression of the equations of motion rather than by numerical evaluation of specific parameters or actuation schemes. Optimal design guidelines are provided. Singularity analysis is given to support the proposed design guidelines. Simulation results are presented to verify the conclusions drawn. © 2005 IEEE.
Source Title: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
URI: http://scholarbank.nus.edu.sg/handle/10635/73705
ISBN: 0780389123
DOI: 10.1109/IROS.2005.1545385
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