Abstract
While the classical holonomic constraints limit the freedom of motion through the position variables, and thus simultaneously through the velocity variables, the non-holonomic constraints, realized purely mechanically via (for example) rolling wheels, lead to a restriction of the velocities only, not of the positions. The non-holonomic constraints pertain to the kinematical constraints and can be either scleronomic or rheonomic. A transport car with two independent wheels is characterized by the fact that the mid-point cannot move in either of the two body-fixed directions, owing to the friction forces on the wheels.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Angeles, J.: Fundamentals of Robotic Mechanical Systems: Theory, Methods and Algorithms. Springer, New York (2002)
Papadopoulos, E., Poulakakis, E.: On motion planning of non-holonomic mobile robots. In: Proceedings of International Symposium on Robotics, Montréal, pp. 77–82 (2000)
Baron, L., Angeles, J.: The direct kinematics of parallel manipulators under joint-sensor redundancy. IEEE Trans. Robot. Autom. 16(1), 12–19 (2000)
Velinski, S.A., Gardner, J.F.: Kinematics of mobile manipulator and implications for design. J. Robot. Syst. 17(6) (2000)
Lerbet, J.: Mécanique des systèmes de solides rigides comportant des boucles fermées. Thesis, Paris (1987)
Abou-Samah, M., Krovi, V.: Cooperative frameworks for multiple mobile robots. In: Proceedings of CCToMM Symposium on Mechanisms, Machines and Mechatronics, Canadian Space Agency, Montréal (2001)
Agulló, J., Cardona, S., Vivancos, J.: Kinematics of vehicle with directional sliding wheels. Mech. Mach. Theory 22(4), 295–301 (1987)
Muir, F.P., Neuman, C.P.: Kinematic modeling of mobile robots. J. Robot. Syst. 4(2), 281–304 (1987)
Staicu, S.: Dynamics analysis of the Star parallel manipulator. Robot. Auton. Syst. 57(11), 1057–1064 (2009)
Giergiel, J., Zylski, W.: Description of motion of a mobile robot by Maggie’s equations. J. Theor. Appl. Mech., Warsaw 43(3), 511–521 (2005)
Hendzel, Z.: An adaptive critic network for motion control of a wheeled mobile robot. Nonlinear Dyn. 50(4), 849–855 (2007)
Pathak, K., Franch, J., Agrawal, S.K.: Velocity and position control of a wheeled inverted pendulum by partial feedback linearization. IEEE Trans. Rob. 21(3), 505–513 (2005)
Gracia, L., Tornero, J.: Kinematic modelling and singularity of wheeled mobile robots. Adv. Robot. 21(7), 793–816 (2007)
Chakraborty, N., Ghosal, A.: Kinematics of wheeled mobile robots on uneven terrain. Mech. Mach. Theory 39(12), 1273–1287 (2004)
Chakraborty, N., Ghosal, A.: Dynamic modelling and simulation of a wheeled mobile robot for traversing uneven terrain without slip. J. Mech. Des. 127(5), 901–909 (2005)
Salerno, A., Angeles, J.: On the nonlinear controllability of a quasi-holonomic mobile robot. In: Proceedings of IEEE International Conference on Robotics & Automation, ICRA’2003, Taipei, vol. 3, pp. 3379–3384 (2003)
Salerno, A., Ostrovskaya, S., Angeles, J.: The dynamics of a novel rolling robot: analysis and simulation. In: Proceedings of the 11th World Congress in Mechanism and Machine Science, Tianjin, pp. 1956–1960 (2004)
Staicu, S., Liu, X.-J., Wang, J.: Inverse dynamics of the HALF parallel manipulator with revolute actuators. Nonlinear Dyn. 50(1–2), 1–12 (2007)
Cheng, H.H., Lee, J.J., Penkar, R.: Kinematic analysis of a hybrid serial-and-parallel-driven redundant industrial manipulator. Int. J. Robot. Autom. 10(4), 159–166 (1995)
Staicu, S.: Matrix modeling of inverse dynamics of spatial and planar parallel robots. Multibody Syst. Dyn. 27(2), 239–265 (2012)
Colbaugh, R., Trabatti, M., Glass, K.: Redundant non-holonomic mechanical system: characterization and control. Robotica. 17(2), 203–217 (1999)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Staicu, S. (2019). Mobile Wheeled Robots. In: Dynamics of Parallel Robots. Parallel Robots: Theory and Applications. Springer, Cham. https://doi.org/10.1007/978-3-319-99522-9_11
Download citation
DOI: https://doi.org/10.1007/978-3-319-99522-9_11
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-99521-2
Online ISBN: 978-3-319-99522-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)