Kinematics analysis of a six-wheeled mobile robot

摘要

The paper analysts a kinematic model for a wheeled mobile robot (WMR) traversing uneven terrain. A new form of the kinematics for wheeled mobile robot is deduced, through analyzing Jacobian matrices of individual wheel and rearranging the variables. The performance and characters of the kinematic formulation are explained using physical conception. A new method is proposed to set up the kinematics formulation for wheeled mobile robots. After analyzing the actuation kinematics, simulation results are provided to validate the motion of wheeled mobile robot over a special terrain.