Abstract
The problem of modeling of dynamics of a three-wheeled mobile robot is analyzed in this paper. The robot has two non-steered driven wheels and a caster. Kinematic structure of the robot and its kinematics are described. Dynamics model of the robot dedicated for control applications is derived. It takes into account tire-ground contact conditions and slip of wheels. The tire-ground contact conditions are characterized by coefficients of friction and rolling resistance. The tire model in a simple form, which considers only the most important effects of tire-ground interaction, is applied. Electromechanical model of a servomotor used for driving the robot is also included.
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Trojnacki, M. (2017). Dynamics Model of a Three-Wheeled Mobile Robot Taking into Account Slip of Wheels. In: Szewczyk, R., Kaliczyńska, M. (eds) Recent Advances in Systems, Control and Information Technology. SCIT 2016. Advances in Intelligent Systems and Computing, vol 543. Springer, Cham. https://doi.org/10.1007/978-3-319-48923-0_41
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DOI: https://doi.org/10.1007/978-3-319-48923-0_41
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