DYNAMICS EQUATIONS FOR A CAR INSPECTION MOBILE STRUCTURE
The paper is devoted to establishing the dynamics equations, by an analysis of kinematic and dynamic behavior, for a mobile robot, called RmITA. Based on geometric modeling of the structure, there will be determined the kinematic constraints that affect the structure. Also, the mathematical model used to determine the dynamics equations, will be based on new concepts in advanced mechanics, based on important scientific researches of the main author, concerning the acceleration energy. In keeping the fact that the mathematical models of the mobile platforms are different besides the other robots types, due to no holonomic constraints, the dynamic control functions, will be established according to restrictions for motion.Key words: mobile robots, dynamics equations, control, acceleration energy, no holonomic constraints.
Negrean, I., Schonstein C., Kacso, K., Negrean, D., Formulations about Dynamics of Mobile Robots, Proceedings of 2010 International Conference on Robotics 23-25 September 2010, Cluj-Napoca, Romania
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