DYNAMIC CONTROL FUNCTION 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 dynamics equations will be computed by means of the motion restrictions. In this paper will be applied the matrix differential transformations and exponentials for define the dynamics control functions corresponding to the structure of the mobile robots.

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References


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