DYNAMIC MODEL FOR THE MOBILE ROBOT RmITA

Iuliu Negrean, Claudiu Schonstein, Adina Duca

Abstract


In the paper, there will be determined the dynamic control functions for a mobile platform, denoted RmITA. To achieve this goal, the determination of the differential equations of motion that characterizing the mobile structure, are used the equations of the direct kinematic model. Based on this, by appealing specific equations of mechanical systems with nonholonomous links, there are resulting the expressions which are governing the differential motion in configuration space of the mobile platform.

Key words: advanced mechanics, robotics, dynamics, motion trajectory, control.


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References


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