- Tytuł:
- Modelling of dynamics of a wheeled mobile robot with mecanum wheels with the use of Lagrange equations of the second kind
- Autorzy:
-
Hendzel, Z.
Rykała, Ł. - Powiązania:
- https://bibliotekanauki.pl/articles/266008.pdf
- Data publikacji:
- 2017
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
wheeled mobile robots
mecanum wheels
mathematical model
robot mobilny
model matematyczny
dynamika obiektu - Opis:
- The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.
- Źródło:
-
International Journal of Applied Mechanics and Engineering; 2017, 22, 1; 81-99
1734-4492
2353-9003 - Pojawia się w:
- International Journal of Applied Mechanics and Engineering
- Dostawca treści:
- Biblioteka Nauki
Artykuł