A Study on the Force and Velocity Potentials of Mobile Wheeled Robot

摘要

Robots are becoming a part of human society. Those robots are expected to substitute for humans in a daily life. To realize those robots with high performance, a well-designed mobile base concerning the force and velocity properties is important. Only few papers, however, on the force and velocity properties of mobile wheeled robots are reported, while many on the kinematic characteristics. The goal of our study is to realize a high performance mobile wheeled robots based on the analysis of the force and velocity potentials. In this paper, some numerical and experimental results on those properties are reported.