Archivio Istituzionale della RicercaIn the field of service robotics, wheeled mobile robots have a central role in precision agriculture, logistics, healthcare, inspection and maintenance and cleaning. This paper proposes a kinematic model for swerve-drive robots having two or more locomotion units. The kinematics of swervedrive systems have already been addressed for specific robots, but a general approach is still missing.
Kinematic modelling of swerve-drive-based mobile robots / Tagliavini, Luigi; Botta, Andrea; Colucci, Giovanni; Baglieri, Lorenzo; Duretto, Simone; Quaglia, Giuseppe. - ELETTRONICO. - 1:(2024), pp. 225-231. (Intervento presentato al convegno The 7th Jc-IFToMM International Symposium in conjunction with The 30th Jc-IFToMM Symposium on Theory of Machines and Mechanisms tenutosi a Kitakyushu (JP) nel 22 – 23 June 2024).
Kinematic modelling of swerve-drive-based mobile robots
LUIGI TAGLIAVINI;ANDREA BOTTA;GIOVANNI COLUCCI;LORENZO BAGLIERI;SIMONE DURETTO;GIUSEPPE QUAGLIA
2024
Abstract
In the field of service robotics, wheeled mobile robots have a central role in precision agriculture, logistics, healthcare, inspection and maintenance and cleaning. This paper proposes a kinematic model for swerve-drive robots having two or more locomotion units. The kinematics of swervedrive systems have already been addressed for specific robots, but a general approach is still missing.
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https://hdl.handle.net/11583/2989963