Dynamics of the Mobile Wheeled Pendulum
نویسنده
چکیده
Kinematics and the dynamics analysis of a two-wheeled mobile robot comprising an oscillating intermediate central body are established in the paper. The dynamics of this mechanical system is formulated using the fundamental principle of virtual work, but it has been verified the results in the framework of the Lagrange formalism with their multipliers. The study of the dynamics problems of the wheeled mobile robots is done mainly to solve successfully the control of the motion of such systems
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