Autor:

Hendzel, Zenon ; Rykała, Łukasz

Współtwórca:

Jurczak, Paweł - red.

Tytuł:

Modelling of dynamics of a wheeled mobile robot with mecanum wheels with the use of Lagrange equations of the second kind

Tytuł publikacji grupowej:

IJAME, volume 22 (2017)

Temat i słowa kluczowe:

wheeled mobile robots ; mecanum wheels ; mathematical model

Streszczenie:

The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Data wydania:

2017

Typ zasobu:

artykuł

Format:

application/pdf

DOI:

10.1515/ijame-2017-0005

Strony:

81-99

Źródło:

IJAME, volume 22, number 1 (2017)

Jezyk:

eng

Licencja:

CC 4.0

Licencja CC BY-NC-ND 4.0:

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Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego