Kinematic and Dynamics Modeling of Nonholonomic Mobile Robot

Kinematic and Dynamics Modeling of Nonholonomic Mobile Robot

This paper presents computer simulation results of kinematic and dynamic of two and three – wheeled mobile robot, conducted in the Matlab&Simulink packet environment. Models of kinematics and dynamics were developed with the aid of Jacobians and Lagrange II multiplayers equations.

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Veröffentlicht in:Scientific Journal of Gdynia Maritime University 2023-12 (128), p.33-57
Hauptverfasser: Jasiński, Krzysztof, Murawski, Lech, Szeleziński, Adam, Kluczyk, Marcin
Format: Artikel
Sprache:eng
Schlagworte:
control
mechatronics
modeling
robotics
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Beschreibung
Zusammenfassung:This paper presents computer simulation results of kinematic and dynamic of two and three – wheeled mobile robot, conducted in the Matlab&Simulink packet environment. Models of kinematics and dynamics were developed with the aid of Jacobians and Lagrange II multiplayers equations.
ISSN:2657-5841
2657-6988
DOI:10.26408/128.03