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From: lipsettm@crl.aecl.ca (M Lipsett)
Subject: Re: Wheelchair Inverse Kinematics
Message-ID: <1994Sep23.163753.21693@cu23.crl.aecl.ca>
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Date: Fri, 23 Sep 1994 16:37:53 GMT
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In article <ARMSTRON.94Sep22101630@fenton.cs.ucdavis.edu> armstron@fenton.cs.ucdavis.edu (Matthew Aaron Armstrong) writes:
>Are there any good "introductory" articles/books on the Inverse
>Kinematics problem for "wheelchair" motion?  By wheelchair motion I
>mean motion in a 2D plane controlled by varying the speed of two drive
>wheels on the same axis.
>
>My search in the library turned up lots on robot arm motion, and a
>little on inverse kinematics for car-like robots, but none for the
>wheelchair problem.  All of it was also pretty much over my head.
>
>In the coming year I will be writing software for a MicroMouse,
>controlled by two drive wheels on the same axix.  In past years,
>people have geen doing "turn in place" motion.  I would like to do
>smooth turns with my mouse, but am having trouble finding sources for
>a simple approach to this problem.
>--
>| Matt Armstrong              Successfully installing and using Linux at home 
>| armstron@cs.ucdavis.edu     makes my CS classes a breeze!


Try Introduction to Robotics by Phillip J McKerrow, Addison-Wesley '91

Cheers,
- Mike
