Kinematics of the Caster Wheel of a Planar Mobile Robot
نویسندگان
چکیده
Articolul analizează cinematica roţii de orientare a unui robot mobil planar constituit dintr-o platformă orizontală şi două roţi convenţionale. Vitezele şi acceleraţiile caracteristice ale sistemului mecanic neolonom sunt stabilite pe baza unor relaţii matriceale de conectivitate. Cunoscând mişcarea celor două roţi motoare, se obţin expresii şi grafice pentru unghiul relativ de rotaţie şi traiectoria centrului roţii de orientare.
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