This paper presents, analyzes and compares two different kinematic modeling methods for obtaining the kinematic model of general wheeled mobile robots. The two kinematic modeling methods are based on absolutely different concepts: on the one hand the constraints of each wheel and on the other the well known homogeneous transformation matrix theory. These methods are applied to the most common w...

Abstract In this paper, We first propose a systematic modeling of the wheeled mobile manipulator built from a robotic arm mounted on a wheeled mobile platform by using Lagrange dynamics equation and nonholonomic dynamics Routh equation. Then we use artificial potential field as part of feedback to accomplish the wheeled mobile manipulator’s motion planning, and its stability is guaranteed by Ly...

We introduce and study wheeled PROPs, an extension of the theory of PROPs which can treat traces and, in particular, solutions to the master equations which involve divergence operators. We construct a dg free wheeled PROP whose representations are in one-to-one correspondence with formal germs of SP-manifolds, key geometric objects in the theory of BatalinVilkovisky quantization. We also const...

The control problem for wheeled systems similar to a mobile robot, a vehicle, a wheeled tractor, etc. is studied. These systems belong to the class of nonholonomic mechanical systems. Analysis in this paper is limited to kinematic models, and the dynamics of control drives is taken into account. Control that stabilizes the motion of a wheeled system along a given trajectory (planar smooth curve...

Space requirements for accommodating wheeled mobility devices and their users in the built environment are key components of standards for accessible design. These requirements typically include dimensions for clear floor areas, maneuvering clearances, seat and knee clearance heights, as well as some reference dimensions on wheeled mobility device sizes. Recent research from four countries was ...

Hey, E. N., and O'Connell, B. (1970). Archives of Disease in Childhood, 45, 335. Oxygen consumption and heat balance in the cot-nursed baby. Oxygen consumption and heat balance have been studied in 42 clothed babies under varied environmental temperature conditions. The information obtained has made it possible to compare the thermal environment provided by an incubator with that provided by an...

Nonholonomic wheeled mobile robots are often required to implement algorithms designed for holonomic kinematic systems. This creates a velocity tracking problem for the actual wheeled mobile robot. In this paper, we investigate the issue of tracking the desired velocity in the least amount of time, for a differential drive nonholonomic wheeled mobile robot. If the desired velocity is a constant...

We describe an algorithm based on motion-planning techniques to determine the existence of an accessible route through a facility for a wheeled mobility device. The algorithm is based on LaValle's work on rapidly exploring random trees and is enhanced to take into consideration the particularities of the accessible route domain. Specifically, the algorithm is designed to allow performance-based...