Kinematic Analysis and Motion Planning for a Planar Multiarticulated Omnidirectional Mobile Robot


During this paper, kinematic modeling and singularity analysis are performed for an omnidirectional mobile robot. At the beginning, generalized formulas of the mobility and the primary-order kinematics for a planar multiarticulated omnidirectional mobile robot are proposed. To verify the proposed formulas, a mobile robot that consists of three wheel mechanisms each of that has one redundant joint as compared to the operational degrees is introduced. Initially, the kinematic modeling and dynamic analysis, and odometry calculation for this robot are conducted. Next, singularity analysis of the proposed robot is performed. Then, using such a kinematic redundancy of every chain, motion planning algorithms that exploit the kinematic redundancy of the wheel chain are urged. For navigation, a localization algorithm of the mobile robot based mostly on odometry is presented, and specifically, 2-leveled obstacle avoidance theme, which simultaneously considers both massive and tiny obstacles, is proposed. The usefulness of the proposed algorithms is verified through experimentation.

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