Title :
Matrix model in dynamics of mobile robots
Author_Institution :
Dept. of Mech., Bucharest Univ.
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;
Conference_Titel :
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location :
Shatin
Print_ISBN :
0-7803-9315-5
DOI :
10.1109/ROBIO.2005.246323
