This article is cited in 10 papers

Application of laconic forms of the equations of motion in the dynamics of nonholonomic mobile robots

A. A. Zobova

Lomonosov Moscow State University, Leninskie Gory 1, Moscow, 119991, Russia

Abstract: The paper considers a new laconic method for deriving the dynamical equations of nonholonomic systems proposed by Ya. V. Tatarinov in 2003 for description of the dynamics of wheel systems of three different types (piano wheel, carriages with roller-bearing wheels, with differential drive).

Keywords: systems with differential constraints; laconic form of Ya. V. Tatarinov's equations of motion; mobile vehicles.

UDC: 531.36

MSC: 70F25, 70E55, 70E60

Received: 27.06.2011
Accepted: 17.11.2011