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Please use this identifier to cite or link to this item: https://doi.org/10.1109/IROS.2005.1545385
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dc.titleOmnidirectional mobile robots with powered caster wheels: Design guidelines from kinematic isotropy analysis
dc.contributor.authorOetomo, D.
dc.contributor.authorLi, Y.P.
dc.contributor.authorAng Jr., M.H.
dc.contributor.authorLim, C.W.
dc.date.accessioned2014-06-19T05:38:24Z
dc.date.available2014-06-19T05:38:24Z
dc.date.issued2005
dc.identifier.citationOetomo, 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
dc.identifier.isbn0780389123
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/73705
dc.description.abstractKinematic 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/IROS.2005.1545385
dc.sourceScopus
dc.subjectDesign optimization
dc.subjectKinematic isotropy
dc.subjectPowered caster wheels
dc.typeConference Paper
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1109/IROS.2005.1545385
dc.description.sourcetitle2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
dc.description.page2708-2713
dc.identifier.isiut000235632102106
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