DocumentCode
2670720
Title
Matrix model in dynamics of mobile robots
Author
Staicu, Stefan
Author_Institution
Dept. of Mech., Bucharest Univ.
fYear
0
fDate
0-0 0
Firstpage
529
Lastpage
532
Abstract
Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the direction of motion of a small wheel are analysed in the paper. With the relations of connectivity as a base, the characteristic velocities and accelerations of two-degrees-of-freedom non-holonomic mechanical system are derived. According to virtual powers method, expressions and graphs for the torques of the propelling couples are established
Keywords
matrix algebra; mobile robots; motion control; position control; robot dynamics; torque; matrix model; mobile robots; nonholonomic mechanical system; torques; virtual powers method; Equations; Lagrangian functions; Mechanical systems; Medical robotics; Mobile robots; Motion analysis; Motion control; Robot kinematics; Tensile stress; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location
Shatin
Print_ISBN
0-7803-9315-5
Type
conf
DOI
10.1109/ROBIO.2005.246323
Filename
1708800
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