Mobile Intelligent Autonomous Systems

2	Mathematical Models of Robot Motion A. Ramachandran

CONTENTS

2.1      Introduction

2.2      Robot Spatial Location

2.2.1      Position of a Robot

2.2.2      Orientation of a Robot and Its Links

2.2.3      Rotation Matrix

2.2.4      Homogeneous Transformation

2.3      Robot’s Kinematics

2.4      Dynamic Model

2.4.1      Equations of Motion

2.5      Robot’s Walking

2.6      Probabilistic Robot Motion Modelling

2.6.1      Odometry-Based Motion Modelling

2.6.2      Dead Reckoning

References

2.1      INTRODUCTION

To evaluate any design of a robot by simulation, the kinematic and dynamic mathematical models of the robot including its physical characteristics are required. Several related mathematical tools and algorithms are also required ...