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Kinematic Inverse Problem and Stability of Wheeled Mobile Robots

Lu Zhen Yan Biao(Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electrical Engineering)  
Mobile robot can be regarded as the combination of a manipulator and a walking machine.It has more manoeuvrable and larger working space.Thus,it is suitable for long range operation both in the space and the ground.The most common used mobile robots are wheeled mobile robots(WMR).The wheeles lead to the non holomotic constraints.In this paper,the non holomotic constraints and kinematics geometry are analysed to formulate two solutions of the inverse kinematic problems of WMR.Secondly,a method on controlling the self motion of WMR is proposed to resolve the stability of the moving platform,which is verify by simulation.
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