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 / Gentile, A.; Messina, A.; Trentadue, A.. - In: VEHICLE SYSTEM DYNAMICS. - ISSN 0042-3114. - STAMPA. - 25:2(1996), pp. 89-112. [10.1080/00423119608968959]
Dynamic behaviour of a mobile robot vehicle with a two caster and two driving wheel configuration
Gentile, A.;Trentadue, A.
1996-01-01
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
