바퀴 구동로봇 플랫폼의 조향 방식에 대한 기구학적 해석 연구

A Study on the Kinematic Analysis for Steering-Wheel Drive System of the Robot Platform

The definition of Intelligent robots is to recognize the extermal environment, to judge the situation by themselves and to operate by autonomous. Mobile technology is the field of basic research of the intelligent robot. Steering system for mobile robot has four kinds. In this paper, kinematic analysis is performed for front steering, rear steering and independent steering. Mathematical modeling of the steering system is carried out for smooth movement. This mathematical modeling is verified by computer analysis. In a variety of portable, optimized steering system for the robot is to grasp the characteristics.