Kinematics and dynamics of some selected two-wheeled mobile robots

In this paper, the problem of the kinematics and dynamics of two constructional conceptions of a two-wheeled mobile robot is considered. The wheeled mobile robot subjected to nonholonomic constraints moves over the inclined plane. Its trajectory consisting of the straight line and the curvilinear path described by the sinusoidal function is analyzed. The kinematic equations for arbitrarily chosen point of the system are derived by using classical equations of mechanics. Kinematic and dynamic parameters of motion from the solution of inverse kinematic and dynamic problem are obtained. Simulation results are presented to illustrate the efficiency of the approach.