{"id":852,"date":"2019-05-31T17:10:27","date_gmt":"2019-05-31T08:10:27","guid":{"rendered":"https:\/\/ahnbk.com\/?p=852"},"modified":"2019-05-31T17:10:27","modified_gmt":"2019-05-31T08:10:27","slug":"kinematic-model-for-3-wheel-omni-drive-robot","status":"publish","type":"post","link":"https:\/\/ahnbk.com\/?p=852","title":{"rendered":"Kinematic Model for 3 Wheel Omni Drive Robot"},"content":{"rendered":"\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><img data-attachment-id=\"855\" data-permalink=\"https:\/\/ahnbk.com\/?attachment_id=855\" data-orig-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/05\/image-23.png?fit=688%2C380&amp;ssl=1\" data-orig-size=\"688,380\" data-comments-opened=\"1\" data-image-meta=\"{&quot;aperture&quot;:&quot;0&quot;,&quot;credit&quot;:&quot;&quot;,&quot;camera&quot;:&quot;&quot;,&quot;caption&quot;:&quot;&quot;,&quot;created_timestamp&quot;:&quot;0&quot;,&quot;copyright&quot;:&quot;&quot;,&quot;focal_length&quot;:&quot;0&quot;,&quot;iso&quot;:&quot;0&quot;,&quot;shutter_speed&quot;:&quot;0&quot;,&quot;title&quot;:&quot;&quot;,&quot;orientation&quot;:&quot;0&quot;}\" data-image-title=\"image-23\" data-image-description=\"\" data-image-caption=\"\" data-medium-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/05\/image-23.png?fit=688%2C380&amp;ssl=1\" data-large-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/05\/image-23.png?fit=525%2C290&amp;ssl=1\" decoding=\"async\" loading=\"lazy\" src=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/05\/image-23.png?resize=294%2C159&#038;ssl=1\" alt=\"\" class=\"wp-image-855\" width=\"294\" height=\"159\" data-recalc-dims=\"1\" \/><\/figure><\/div>\n\n\n\n<p>3 Wheel Omni Drive \ub85c\ubd07\uc740 \uba54\uce74\ub118\ud720(90\u00ba) 3\uac1c\ub97c 120\u00ba \uac04\uaca9\uc73c\ub85c \ubc30\uce58\ud558\uc5ec \uad6c\uc131\ud558\uba70, \ubc14\ud034 \uc18d\ub3c4\uc758 \uc870\ud569\uc5d0 \ub530\ub77c \uc804\ubc29\ud5a5\uc73c\ub85c \uc774\ub3d9 \uac00\ub2a5\ud558\ub2e4.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><img data-attachment-id=\"856\" data-permalink=\"https:\/\/ahnbk.com\/?attachment_id=856\" data-orig-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/05\/image-24.png?fit=504%2C426&amp;ssl=1\" data-orig-size=\"504,426\" data-comments-opened=\"1\" data-image-meta=\"{&quot;aperture&quot;:&quot;0&quot;,&quot;credit&quot;:&quot;&quot;,&quot;camera&quot;:&quot;&quot;,&quot;caption&quot;:&quot;&quot;,&quot;created_timestamp&quot;:&quot;0&quot;,&quot;copyright&quot;:&quot;&quot;,&quot;focal_length&quot;:&quot;0&quot;,&quot;iso&quot;:&quot;0&quot;,&quot;shutter_speed&quot;:&quot;0&quot;,&quot;title&quot;:&quot;&quot;,&quot;orientation&quot;:&quot;0&quot;}\" data-image-title=\"image-24\" data-image-description=\"\" data-image-caption=\"\" data-medium-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/05\/image-24.png?fit=504%2C426&amp;ssl=1\" data-large-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/05\/image-24.png?fit=504%2C426&amp;ssl=1\" decoding=\"async\" loading=\"lazy\" src=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/05\/image-24.png?resize=253%2C191&#038;ssl=1\" alt=\"\" class=\"wp-image-856\" width=\"253\" height=\"191\" data-recalc-dims=\"1\" \/><\/figure><\/div>\n\n\n\n<p>\uc2dd\uc740 \ub2e4\uc74c\uacfc \uac19\uc774 \ub098\ud0c0\ub0bc \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<img src=\"https:\/\/s0.wp.com\/latex.php?latex=+%5Cdot%7B%5Cphi%7D+%3D+J_%7B2%7D%5E%7B-1%7D+J_%7B1f%7D+R%28%5Ctheta%29+%5Cdot%7B%5Cxi_%7BI%7D%7D+&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\" &#92;dot{&#92;phi} = J_{2}^{-1} J_{1f} R(&#92;theta) &#92;dot{&#92;xi_{I}} \" class=\"latex\" \/>\n\n\n\n<img src=\"https:\/\/s0.wp.com\/latex.php?latex=+%5Cdot%7B%5Cxi_%7BI%7D%7D+%3D+R%28%5Ctheta%29%5E%7B-1%7DJ_%7B1f%7D%5E%7B-1%7DJ_%7B2%7D%5Cdot%7B%5Cphi%7D+&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\" &#92;dot{&#92;xi_{I}} = R(&#92;theta)^{-1}J_{1f}^{-1}J_{2}&#92;dot{&#92;phi} \" class=\"latex\" \/>\n\n\n\n<p>\uc5ec\uae30\uc11c,<\/p>\n\n\n\n<img src=\"https:\/\/s0.wp.com\/latex.php?latex=+%5Cdot%7B%5Cphi%7D+%3D+%5Cbegin%7Bbmatrix%7D+%5Cdot%7B%5Cphi%7D_%7B1%7D+%5C%5C+%5Cdot%7B%5Cphi%7D_%7B2%7D+%5C%5C+%5Cdot%7B%5Cphi%7D_%7B3%7D+%5Cend%7Bbmatrix%7D+&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\" &#92;dot{&#92;phi} = &#92;begin{bmatrix} &#92;dot{&#92;phi}_{1} &#92;&#92; &#92;dot{&#92;phi}_{2} &#92;&#92; &#92;dot{&#92;phi}_{3} &#92;end{bmatrix} \" class=\"latex\" \/>\n\n\n\n<img src=\"https:\/\/s0.wp.com\/latex.php?latex=+%5Cdot%7B%5Cxi_%7BI%7D%7D+%3D+%5Cbegin%7Bbmatrix%7D+%5Cdot%7Bx%7D+%5C%5C+%5Cdot%7By%7D+%5C%5C+%5Cdot%7B%5Ctheta%7D+%5Cend%7Bbmatrix%7D+&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\" &#92;dot{&#92;xi_{I}} = &#92;begin{bmatrix} &#92;dot{x} &#92;&#92; &#92;dot{y} &#92;&#92; &#92;dot{&#92;theta} &#92;end{bmatrix} \" class=\"latex\" \/>\n\n\n\n<img src=\"https:\/\/s0.wp.com\/latex.php?latex=++J_%7B2%7D+%3D+%5Cbegin%7Bbmatrix%7D+2r+%26+0+%26+0+%5C%5C+0+%26+2r+%26+0+%5C%5C+0+%26+0+%26+2r+%5Cend%7Bbmatrix%7D+&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\"  J_{2} = &#92;begin{bmatrix} 2r &amp; 0 &amp; 0 &#92;&#92; 0 &amp; 2r &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 2r &#92;end{bmatrix} \" class=\"latex\" \/>\n\n\n\n<img src=\"https:\/\/s0.wp.com\/latex.php?latex=+J_%7B1f%7D+%3D+%5Cbegin%7Bbmatrix%7D+sin%28%5Cfrac%7B%5Cpi%7D%7B3%7D%29+%26+-cos%28%5Cfrac%7B%5Cpi%7D%7B3%7D%29+%26+-l+%5C%5C+0+%26+-cos%28%5Cpi%29+%26+-l+%5C%5C+sin%28-%5Cfrac%7B%5Cpi%7D%7B3%7D%29+%26+-cos%28-%5Cfrac%7B%5Cpi%7D%7B3%7D%29+%26+-l+%5Cend%7Bbmatrix%7D+&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\" J_{1f} = &#92;begin{bmatrix} sin(&#92;frac{&#92;pi}{3}) &amp; -cos(&#92;frac{&#92;pi}{3}) &amp; -l &#92;&#92; 0 &amp; -cos(&#92;pi) &amp; -l &#92;&#92; sin(-&#92;frac{&#92;pi}{3}) &amp; -cos(-&#92;frac{&#92;pi}{3}) &amp; -l &#92;end{bmatrix} \" class=\"latex\" \/>\n\n\n\n<img src=\"https:\/\/s0.wp.com\/latex.php?latex=+R%28%5Ctheta%29+%3D+%5Cbegin%7Bbmatrix%7D+cos+%5Ctheta+%26+sin%5Ctheta+%26+0+%5C%5C+-sin+%5Ctheta+%26+cos+%5Ctheta+%26+0+%5C%5C+0+%26+0+%26+1%5Cend%7Bbmatrix%7D+&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\" R(&#92;theta) = &#92;begin{bmatrix} cos &#92;theta &amp; sin&#92;theta &amp; 0 &#92;&#92; -sin &#92;theta &amp; cos &#92;theta &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 1&#92;end{bmatrix} \" class=\"latex\" \/>\n\n\n\n<p><img src=\"https:\/\/s0.wp.com\/latex.php?latex=r&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\"r\" class=\"latex\" \/>\ub294 \ubc14\ud034\uc758 \ubc18\uc9c0\ub984, <img src=\"https:\/\/s0.wp.com\/latex.php?latex=l&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\"l\" class=\"latex\" \/>\uc740 \ub85c\ubd07 \uc911\uc2ec\uc73c\ub85c\ubd80\ud130 \ubc14\ud034\uae4c\uc9c0\uc758 \uac70\ub9ac\uc774\ub2e4.<\/p>\n\n\n\n<p>\uc774\uc81c \ubc14\ud034\uc758 \uc18d\ub3c4 \ubcc0\uacbd\uc5d0 \ub530\ub978, \ub85c\ubd07\uc758 \uc6c0\uc9c1\uc784\uc744 \uad6c\ud558\ub824\uba74,<\/p>\n\n\n\n<img src=\"https:\/\/s0.wp.com\/latex.php?latex=+%5Cbegin%7Bbmatrix%7D+%5Cdot%7Bx%7D+%5C%5C+%5Cdot%7By%7D+%5C%5C+%5Cdot%7B%5Ctheta%7D+%5Cend%7Bbmatrix%7D+%3D+%5Cbegin%7Bbmatrix%7D+cos+%5Ctheta+%26+sin%5Ctheta+%26+0+%5C%5C+-sin+%5Ctheta+%26+cos+%5Ctheta+%26+0+%5C%5C+0+%26+0+%26+1%5Cend%7Bbmatrix%7D%5E%7B-1%7D+%5Cbegin%7Bbmatrix%7D+sin%28%5Cfrac%7B%5Cpi%7D%7B3%7D%29+%26+-cos%28%5Cfrac%7B%5Cpi%7D%7B3%7D%29+%26+-l+%5C%5C+0+%26+-cos%28%5Cpi%29+%26+-l+%5C%5C+sin%28-%5Cfrac%7B%5Cpi%7D%7B3%7D%29+%26+-cos%28-%5Cfrac%7B%5Cpi%7D%7B3%7D%29+%26+-l+%5Cend%7Bbmatrix%7D%5E%7B-1%7D+%5Cbegin%7Bbmatrix%7D+2r+%26+0+%26+0+%5C%5C+0+%26+2r+%26+0+%5C%5C+0+%26+0+%26+2r+%5Cend%7Bbmatrix%7D+%5Cbegin%7Bbmatrix%7D+%5Cdot%7B%5Cphi%7D_%7B1%7D+%5C%5C+%5Cdot%7B%5Cphi%7D_%7B2%7D+%5C%5C+%5Cdot%7B%5Cphi%7D_%7B3%7D+%5Cend%7Bbmatrix%7D+&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\" &#92;begin{bmatrix} &#92;dot{x} &#92;&#92; &#92;dot{y} &#92;&#92; &#92;dot{&#92;theta} &#92;end{bmatrix} = &#92;begin{bmatrix} cos &#92;theta &amp; sin&#92;theta &amp; 0 &#92;&#92; -sin &#92;theta &amp; cos &#92;theta &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 1&#92;end{bmatrix}^{-1} &#92;begin{bmatrix} sin(&#92;frac{&#92;pi}{3}) &amp; -cos(&#92;frac{&#92;pi}{3}) &amp; -l &#92;&#92; 0 &amp; -cos(&#92;pi) &amp; -l &#92;&#92; sin(-&#92;frac{&#92;pi}{3}) &amp; -cos(-&#92;frac{&#92;pi}{3}) &amp; -l &#92;end{bmatrix}^{-1} &#92;begin{bmatrix} 2r &amp; 0 &amp; 0 &#92;&#92; 0 &amp; 2r &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 2r &#92;end{bmatrix} &#92;begin{bmatrix} &#92;dot{&#92;phi}_{1} &#92;&#92; &#92;dot{&#92;phi}_{2} &#92;&#92; &#92;dot{&#92;phi}_{3} &#92;end{bmatrix} \" class=\"latex\" \/>\n\n\n\n<p>\uc5ec\uae30\uc11c \ub098\uc628 \uacb0\uacfc, \uc989 \ub85c\ubd07\uc758 \uc18d\ub3c4 (<img src=\"https:\/\/s0.wp.com\/latex.php?latex=%5Cdot%7Bx%7D%2C+%5Cdot%7By%7D%2C+%5Cdot%7B%5Ctheta%7D&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\"&#92;dot{x}, &#92;dot{y}, &#92;dot{&#92;theta}\" class=\"latex\" \/>)\ub97c \ub204\uc801\ud558\uba74 Odometry \uc815\ubcf4\ub97c \uc5bb\uc744 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<p>\uc774\uc81c \ub85c\ubd07\uc744 \uc81c\uc5b4\ud558\uae30 \uc704\ud574\uc11c, \uc6d0\ud558\ub294 \ub85c\ubd07\uc758 \uc120\uc18d\ub3c4 (<img src=\"https:\/\/s0.wp.com\/latex.php?latex=%5Cdot%7Bx%7D%2C+%5Cdot%7By%7D+&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\"&#92;dot{x}, &#92;dot{y} \" class=\"latex\" \/>), \uac01\uc18d\ub3c4 (<img src=\"https:\/\/s0.wp.com\/latex.php?latex=%5Cdot%7B%5Ctheta%7D&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\"&#92;dot{&#92;theta}\" class=\"latex\" \/>)\uac00 \uc785\ub825\uc774 \ub418\uba74,<\/p>\n\n\n\n<img src=\"https:\/\/s0.wp.com\/latex.php?latex=+%5Cbegin%7Bbmatrix%7D+%5Cdot%7B%5Cphi%7D_%7B1%7D+%5C%5C+%5Cdot%7B%5Cphi%7D_%7B2%7D+%5C%5C+%5Cdot%7B%5Cphi%7D_%7B3%7D+%5Cend%7Bbmatrix%7D+%3D++%5Cbegin%7Bbmatrix%7D+2r+%26+0+%26+0+%5C%5C+0+%26+2r+%26+0+%5C%5C+0+%26+0+%26+2r+%5Cend%7Bbmatrix%7D%5E%7B-1%7D+%5Cbegin%7Bbmatrix%7D+sin%28%5Cfrac%7B%5Cpi%7D%7B3%7D%29+%26+-cos%28%5Cfrac%7B%5Cpi%7D%7B3%7D%29+%26+-l+%5C%5C+0+%26+-cos%28%5Cpi%29+%26+-l+%5C%5C+sin%28-%5Cfrac%7B%5Cpi%7D%7B3%7D%29+%26+-cos%28-%5Cfrac%7B%5Cpi%7D%7B3%7D%29+%26+-l+%5Cend%7Bbmatrix%7D++%5Cbegin%7Bbmatrix%7D+cos%280%29+%26+sin%280%29+%26+0+%5C%5C+-sin%280%29+%26+cos%280%29+%26+0+%5C%5C+0+%26+0+%26+1%5Cend%7Bbmatrix%7D++%5Cbegin%7Bbmatrix%7D+%5Cdot%7Bx%7D+%5C%5C+%5Cdot%7By%7D+%5C%5C+%5Cdot%7B%5Ctheta%7D+%5Cend%7Bbmatrix%7D+&#038;bg=ffffff&#038;fg=000&#038;s=0&#038;c=20201002\" alt=\" &#92;begin{bmatrix} &#92;dot{&#92;phi}_{1} &#92;&#92; &#92;dot{&#92;phi}_{2} &#92;&#92; &#92;dot{&#92;phi}_{3} &#92;end{bmatrix} =  &#92;begin{bmatrix} 2r &amp; 0 &amp; 0 &#92;&#92; 0 &amp; 2r &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 2r &#92;end{bmatrix}^{-1} &#92;begin{bmatrix} sin(&#92;frac{&#92;pi}{3}) &amp; -cos(&#92;frac{&#92;pi}{3}) &amp; -l &#92;&#92; 0 &amp; -cos(&#92;pi) &amp; -l &#92;&#92; sin(-&#92;frac{&#92;pi}{3}) &amp; -cos(-&#92;frac{&#92;pi}{3}) &amp; -l &#92;end{bmatrix}  &#92;begin{bmatrix} cos(0) &amp; sin(0) &amp; 0 &#92;&#92; -sin(0) &amp; cos(0) &amp; 0 &#92;&#92; 0 &amp; 0 &amp; 1&#92;end{bmatrix}  &#92;begin{bmatrix} &#92;dot{x} &#92;&#92; &#92;dot{y} &#92;&#92; &#92;dot{&#92;theta} &#92;end{bmatrix} \" class=\"latex\" \/>\n\n\n\n<p>\uc640 \uac19\uc774 \uac01 \ubc14\ud034\uc758 \uc18d\ub3c4\ub97c \uad6c\ud560 \uc218 \uc788\ub2e4. \uc774\uc81c \uc774 \uc18d\ub3c4\ub97c \ubc14\ud034 \ubaa8\ud130\uc5d0 \uc801\uc6a9\ud558\uba74 \ub85c\ubd07\uc774 \uc6d0\ud558\ub294 \ubc29\ud5a5\uc73c\ub85c \uc6c0\uc9c1\uc778\ub2e4.<\/p>\n\n\n\n<p>\ucc38\uace0: <\/p>\n\n\n\n<ul><li><a rel=\"noreferrer noopener\" aria-label=\"Introduction to Autonomous Mobile Robots, Second Edition (opens in a new tab)\" href=\"https:\/\/mitpress.mit.edu\/books\/introduction-autonomous-mobile-robots-second-edition\" target=\"_blank\">Introduction to Autonomous Mobile Robots, Second Edition<\/a>, p75-96<\/li><li><a href=\"https:\/\/github.com\/byeongkyu\/omni_drive_controller\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\"https:\/\/github.com\/byeongkyu\/omni_drive_controller (opens in a new tab)\">https:\/\/github.com\/byeongkyu\/omni_drive_controller<\/a><\/li><\/ul>\n","protected":false},"excerpt":{"rendered":"<p>3 Wheel Omni Drive \ub85c\ubd07\uc740 \uba54\uce74\ub118\ud720(90\u00ba) 3\uac1c\ub97c 120\u00ba \uac04\uaca9\uc73c\ub85c \ubc30\uce58\ud558\uc5ec \uad6c\uc131\ud558\uba70, \ubc14\ud034 \uc18d\ub3c4\uc758 \uc870\ud569\uc5d0 \ub530\ub77c \uc804\ubc29\ud5a5\uc73c\ub85c \uc774\ub3d9 \uac00\ub2a5\ud558\ub2e4. \uc2dd\uc740 \ub2e4\uc74c\uacfc \uac19\uc774 \ub098\ud0c0\ub0bc \uc218 \uc788\ub2e4. \uc5ec\uae30\uc11c, \ub294 \ubc14\ud034\uc758 \ubc18\uc9c0\ub984, \uc740 \ub85c\ubd07 \uc911\uc2ec\uc73c\ub85c\ubd80\ud130 \ubc14\ud034\uae4c\uc9c0\uc758 \uac70\ub9ac\uc774\ub2e4. \uc774\uc81c \ubc14\ud034\uc758 \uc18d\ub3c4 \ubcc0\uacbd\uc5d0 \ub530\ub978, \ub85c\ubd07\uc758 \uc6c0\uc9c1\uc784\uc744 \uad6c\ud558\ub824\uba74, \uc5ec\uae30\uc11c \ub098\uc628 \uacb0\uacfc, \uc989 \ub85c\ubd07\uc758 \uc18d\ub3c4 ()\ub97c \ub204\uc801\ud558\uba74 Odometry \uc815\ubcf4\ub97c \uc5bb\uc744 \uc218 \uc788\ub2e4. \uc774\uc81c &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/ahnbk.com\/?p=852\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Kinematic Model for 3 Wheel Omni Drive Robot&#8221;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"advanced_seo_description":"","jetpack_seo_html_title":"","jetpack_seo_noindex":false,"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"footnotes":"","_jetpack_memberships_contains_paid_content":false},"categories":[194],"tags":[198,199,195,196],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"jetpack_shortlink":"https:\/\/wp.me\/p2wXSW-dK","jetpack-related-posts":[],"jetpack_likes_enabled":false,"_links":{"self":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/852"}],"collection":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=852"}],"version-history":[{"count":20,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/852\/revisions"}],"predecessor-version":[{"id":874,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/852\/revisions\/874"}],"wp:attachment":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=852"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=852"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=852"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}