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.
Dynamic behaviour of a mobile robot vehicle with a two caster and two driving wheel configuration
Über das dynamische Verhalten eines Roboterfahrzeugs mit vier Rädern, von denen zwei angetriebenen werden
Vehicle System Dynamics ; 25 , 2 ; 89-112
1996
24 Seiten, 23 Bilder, 1 Tabelle, 15 Quellen
Article (Journal)
English
Dynamic Behaviour of a Mobile Robot Vehicle with a Two Caster and Two Driving Wheel Configuration
Online Contents | 1996
|Dynamic Behaviour of a Mobile Robot Vehicle with a Two Caster and Two Driving Wheel Configuration
Taylor & Francis Verlag | 1996
|Dynamic behavior of a mobile robot vehicle with a two caster and two driving wheel configuration
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