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Introduction to Mobile Robot Control by Spyros G Tzafestas

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2

Mobile Robot Kinematics

This chapter deals with the configuration of mobile robots in their workspace, the relations between their geometric parameters, and the constraints imposed in their trajectories. The study of kinematics is a fundamental prerequisite for the study of robot dynamics, stability, and control. The objectives of this chapter are as follows: (i) to present the fundamental analytical concepts required for the study of mobile robot kinematics, (ii) to present the kinematic models of nonholonomic mobile robots (unicycle, differential drive, tricycle, and car-like wheeled mobile robots (WMRs)), and (iii) to present the kinematic models of 3-wheel, 4-wheel, and multiwheel omnidirectional WMRs.

Keywords

Direct kinematics; inverse ...

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