KINEMATICAL CONTROL FOR A MOBILE ROBOT

Zoltan SZOKE, Iuliu NEGREAN, Claudiu SCHONSTEIN, Kalman KACSO

Abstract


Unlike the serial robots, in the kinematics and dynamics of the mobile robots the mathematical models are different, in the first time due to nonholonomic links. As a result, the kinematics and dynamics equations will be computed by means of the motion restrictions. In this paper will be applied matrix transformations and exponentials for define the forward kinematics model and control functions corresponding to the mobile robots.

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References


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