Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 7, issue 1
Articles | Volume 7, issue 1
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:
https://doi.org/10.5194/ms-7-93-2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.
Articles | Volume 7, issue 1
Research article
 | 
06 Apr 2016
Research article |  | 06 Apr 2016

Remarks on the classification of wheeled mobile robots

Christoph Gruber and Michael Hofbaur

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Short summary
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.
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Special issue
Modelling and control of robots