Abstract
Mobile robot dynamics is a challenging field on its own, especially due to the variety of the imposed constraints. Delicate stability and control problems that have very often to be faced are due to longitudinal or lateral slip, and to the features of the ground (roughness, etc.). This chapter has the following objectives: (i) to present the general dynamic modeling concepts and techniques of robots, (ii) to study the Newton–Euler and Lagrange dynamic models of differential-drive mobile robots, (iii) to study the dynamics of differential-drive mobile robots with longitudinal and lateral slip, (iv) to derive a dynamic model of car-like wheeled mobile robots, (v) to derive a dynamic model of three-wheel omnidirectional robots, and (vi) to derive a dynamic model of four-wheel mecanum omnidirectional robots.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
