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Salerno Alessio
Ostrovskaya Svetlana
Angeles Jorge
Department of Mechanical Engineering
& Centre for Intelligent Machines,
McGill University,
Montreal, Canada |
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DYNAMICS OF A
NOVEL ROLLING
ROBOT—ANALYSIS AND
SIMULATION*
Abstract: The analysis and simulation of the dynamical behaviour
of a novel two-wheeled mobile robot are reported. Its novelty is
lying in the ease with which it can be controlled, as a result
of its qua-siholonomy, a concept introduced elsewhere. The mathematical model of the robot is formulated in the framework of the Lagrange formalism, by means of an orthogonal complement and the holonomy matrix, concepts introduced in previous works. A few simulations for the validation of the aforementioned model have been conducted. Moreover, the dynamic response to different inputs and different initial conditions are provided, which is crucial for the design and control of the robot.
Key words:
Wheeled mobile robots Nonholonomic robots Multibody system dynamics
Dynamic simulation
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