Overcoming Kinematic Singularities for Motion Control in a Caster Wheeled Omnidirectional Robot
Omnidirectional planar robots are common these days due to their high mobility, for example in human–robot interactions. The motion of such mechanisms is based on specially designed wheels, which may vary when different terrains are considered. The usage of actuated caster wheels (ACW) may enable th...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-12-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/10/4/133 |