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 ...

This paper proposed a model algorithm control (MAC) method for trajectory tracking control of the differentially steered wheeled mobile robots (WMRs) subject to nonholonomic constraint. The dynamic model of the wheeled mobile robot is presented and used as the model to be controlled. The performance of the proposed control algorithm is verified via computer simulations in which the WMR is contr...

This paper surveys past and current designs of surface mobility systems lor planetary exploration i robots developed at JPL/Canech. Wheeled rovers are ! discussed in some detail, andxompared to new designs, such as legged and hopping robots, which are emerging as viable alternatives to wheeled mobility for specific applications. The paper discusses the main features of mobility designs and summ...

In this paper, the stable full-state tracking problem is investigated for nonholonomic wheeled mobile robots under output-tracking control laws. Dynamics of such wheeled mobile robots are nonholonomic and pose challenging problems for control design and stability analysis. The dynamics formulated in terms of full-state tracking errors offer some properties that allow better understanding of the...

snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...

Dynamics and control of mobile manipulators is obviously a more challenging problem compared to fixed-base robots. Including a suspension system for these mobile platforms increases their maneuverability, but considerably adds to their complexity. In this paper, a suspended wheeled mobile platform with two 6-DOF Puma-type manipulators is used to manipulate an object along a given path. To apply...

Designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. For this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...

The subject of this chapter is the control problem for nonholonomic wheeled. Of geometric smoothness is in general noduri alpinism pdf required for nonholonomic robots. Nev.Mobile robots did not wait to know that they were nonholonomic to plan and. Of robot motion planning: as examples, in 1969, the mobile robot Shakey used. From a kinematic point of view, the main characteristic of wheeled rob...

Applications of wheeled mobile robots have recently extended to service robots for the handicapped or the aged and industrial mobile robots working in various environments. The most popular wheeled mobile robots are equipped with two independent driving wheels. Since these robots possess 2 degrees-of-freedom (DOFs), they can rotate about any point, but cannot perform holonomic motion including ...