Kinematics modeling and analyses of articulated rovers

@article{Tarokh2005KinematicsMA,
  title={Kinematics modeling and analyses of articulated rovers},
  author={Mahmoud Tarokh and Gregory J. McDermott},
  journal={IEEE Transactions on Robotics},
  year={2005},
  volume={21},
  pages={539-553}
}
This paper describes a general approach to the kinematics modeling and analyses of articulated rovers traversing uneven terrain. The model is derived for full 6DOF (6-degree-of-freedom) motion, enabling movements in the x,y, and z directions, as well as pitch, roll, and yaw rotations. Differential kinematics is derived for the individual wheel motions in… CONTINUE READING

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