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.


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    Titel :

    Dynamic behaviour of a mobile robot vehicle with a two caster and two driving wheel configuration


    Weitere Titelangaben:

    Über das dynamische Verhalten eines Roboterfahrzeugs mit vier Rädern, von denen zwei angetriebenen werden


    Beteiligte:
    Gentile, A. (Autor:in) / Messina, A. (Autor:in) / Trentadue, A. (Autor:in)

    Erschienen in:

    Vehicle System Dynamics ; 25 , 2 ; 89-112


    Erscheinungsdatum :

    1996


    Format / Umfang :

    24 Seiten, 23 Bilder, 1 Tabelle, 15 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch





    Dynamic Behaviour of a Mobile Robot Vehicle with a Two Caster and Two Driving Wheel Configuration

    GENTILE, A. / MESSINA, A. / TRENTADUE, A. | Taylor & Francis Verlag | 1996


    Dynamic behavior of a mobile robot vehicle with a two caster and two driving wheel configuration

    Gentile,A. / Messina,A. / Trentadue,A. et al. | Kraftfahrwesen | 1996


    CASTER WHEEL AND WORK VEHICLE PROVIDED WITH THE CASTER WHEEL

    KANEYUKI HITOSHI / KANEYUKI YOSHIMITSU / GONDO YUKIHIKO | Europäisches Patentamt | 2016

    Freier Zugriff

    WHEEL CASTER

    SWEETEN JEFFREY JAMES | Europäisches Patentamt | 2021

    Freier Zugriff