Abstract
SUMMARY The actual trajectory covered by a mobile robot in motion differs from the trajectory planned on the basis of the kinematic characteristics of its directional control system. This difference is essentially related to the behaviour of wheel-road contact, the influence of dynamic loads and the presence of caster wheels. This paper presents a mathematical model (“ DDPP) which simulates the motion of a generic mobile robot vehicle with a propulsion and directional control system based on two independent driving wheels and two caster wheels. The differential equations of motion have been obtained by applying modified equations of Lagrange. The role played by the dynamic loads, the wheel-road contact features and the caster wheels is discussed hereof.
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.
