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model singularity

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A new geometric approach to characterize the singularity of wheeled mobile robots
Luis Gracia, Josep Tornero
Journal:

Robotica / Volume 25 / Issue 5 / September 2007

Published online by Cambridge University Press:

01 September 2007, pp. 627-638
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This research presents a new and generic geometric approach that characterizes the kinematic singularity of wheeled mobile robots. First, the kinematic models of all the common wheels are obtained: fixed, centered orientable, castor, and Swedish. Then, a procedure for generating robot kinematic models is presented based on the set of wheel equations and the null space concept. Next, two examples are developed to illustrate the nongeneric singularity characterization. In order to improve that approach, a generic and practical geometric approach is established to characterize the singularity of any kinematic model of a wheeled mobile robot (WMR). Finally, the singular configurations for many types of mobile robots are depicted employing the proposed approach.