CONTRIBUTIONS TO THE DYNAMICS OF MOBILE ROBOT PATROLBOT

Iuliu NEGREAN, Claudiu SCHONSTEIN, Zoltan SZOKE

Abstract


In keeping with the fact that the robots during operations are performing moving trajectories situated in the configuration space, or in the Cartesian space, it’s imposed a continuous control of kinematic parameters and respectively the generalized force from every driving joint, in order to achieve a proper control of the dynamic parameters. In keeping with this, the purpose of the paper is to determine the dynamic equations for the mobile robot PatrolBot. The motion equations will be determined on the basis of the new concepts in advanced mechanics, such as Variational Principles in Analytical Mechanics, concerning the acceleration energy, part of important scientific researches deployed by the main author.

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References


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