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Hier finden Sie wissenschaftliche Publikationen aus den FraunhoferInstituten. Applying differential geometry to kinematic modeling in mobile robotics
 Georgi, J.N. ; World Scientific and Engineering Academy and Society WSEAS: REMOTE '05, EED '05, CONTROL '05. CDROM : Proceedings of the WSEAS Conferences, Venice, Italy, November 24, 2005 Venice, Italy, 2005 ISBN: 9608457378 7 pp. 
 International Conference on Remote Sensing <2005, Venedig, Italien> International Conference on Environment, Ecosystems and Development (EED) <2005, Venedig, Italien> International Conference on Dynamical Systems and Control <2005, Venedig, Italien> 

 English 
 Conference Paper 
 Fraunhofer IPA () 
 geometric mechanic; mobile robot; kinematic; kinematisches Modell; constraint; robotic 
Abstract
We examine the kinematic model of a mobile robot with tools of differential geometry. These tools allow comprehensive modelling of even complex mobile articulated mechanical systems. Furthermore, they offer a very illustrative structure of the equations of motion by providing a so called trivial connection of pure motion and shape motion. Pure motion is the systems evolution in physical space, shape motion is the movement of the articulated mechanics such as wheels, fins, flaps, legs, etc. Different from the most other publications, we try to give a graphical interpretation of the complex mathematical objects as well as a detailed mathematical treatment of configuration spaces and its tangentials. This is motivated in the observation that people with an engineering background often find it difficult to get into this mathematical domain.