Abstract
SUMMARYThis research presents a new and genericgeometric approachthat characterizes the kinematic singularity of wheeled mobile robots. First, the kinematic models of all the common wheels are obtained:fixed,centered orientable,castor, andSwedish. Then, a procedure for generating robot kinematic models is presented based on the set of wheel equations and thenull spaceconcept. Next,two examplesare developed to illustrate the nongeneric singularity characterization. In order to improve that approach, agenericandpracticalgeometric approach is established to characterize the singularity of any kinematic model of a wheeled mobile robot (WMR). Finally, thesingular configurationsfor many types of mobile robots are depicted employing the proposed approach.
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