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- W2898977507 abstract "In this paper, a mobile robot named VicRoB with 6 degrees of freedom (DOFs) driven by three tracked vehicles is designed and analyzed. The robot employs a 3-PPSR parallel configuration. The scheme of the mechanism and the inverse kinematic solution are given. A path planning method of a single tracked vehicle and a coordinated motion planning of three tracked vehicles are proposed. The mechanical structure and the electrical architecture of VicRoB prototype are illustrated. VicRoB can achieve the point-to-point motion mode and the continuous motion mode with employing the motion planning method. The orientation precision of VicRoB is measured in a series of motion experiments, which verifies the feasibility of the motion planning method. This work provides a kinematic basis for the orientation closed loop control of VicRoB whether it works on flat or rough road." @default.
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- W2898977507 date "2018-08-26" @default.
- W2898977507 modified "2023-09-25" @default.
- W2898977507 title "Kinematics Analysis and Motion Control of a Mobile Robot Driven by Three Tracked Vehicles" @default.
- W2898977507 doi "https://doi.org/10.1115/detc2018-85279" @default.
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