Modeling and Constraints Analysis of Wheeled Mobile Robots

Wheeled mobile robots’ kinematic constraints and kinematic modeling are presented. Determining how nonholonomic and holonomic constraints limit system mobility in a different way is the main objective. The paper analyzed the relation between controllability of the system and corresponding constraints. It’s shown that constraint properties can be determined by the controllability of the mechanical system. To get this, accessibility distribution is employed. Finally, example to clarify these results is presented. Based on the same procedures, modeling and constraints analysis of other robots can also be acquired.