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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 7, issue 1
Mech. Sci., 7, 93–105, 2016
https://doi.org/10.5194/ms-7-93-2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue: Modelling and control of robots

Mech. Sci., 7, 93–105, 2016
https://doi.org/10.5194/ms-7-93-2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.

Research article 06 Apr 2016

Research article | 06 Apr 2016

Remarks on the classification of wheeled mobile robots

Christoph Gruber1 and Michael Hofbaur2 Christoph Gruber and Michael Hofbaur
  • 1eurofunk Kappacher GmbH, St. Johann im Pongau, Austria
  • 2Institute of Robotics and Mechatronics, JOANNEUM RESEARCH, Klagenfurt, Austria

Abstract. The subject of this work is modeling and classification of single-bodied wheeled mobile robots (WMRs). In the past, it was shown that the kinematics of each such robot can be modeled by one out of only five different generic models. However, the precise conditions under which a model is the proper description of the kinematic capabilities of a robot were not clear. These shortcomings are eliminated in this work, leading to a simple procedure for model selection. Additionally, a thorough analysis of the kinematic models and a classification of their singularities are presented.

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The subject of this work is modeling of single-bodied wheeled mobile robots. In the past, it was shown that the kinematics of each such robot can be modeled by one out of only five different generic models. However, the precise conditions under which a model is the proper description of the kinematic capabilities of a robot were not clear. These shortcomings are eliminated in this work, leading to a simple procedure for model selection and a classification of singularities.
The subject of this work is modeling of single-bodied wheeled mobile robots. In the past, it was...
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