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International Applied Mechanics

, Volume 48, Issue 4, pp 447–457 | Cite as

Modeling the maneuvering of a vehicle

  • E. Ya. Antonyuk
  • A. T. Zabuga
Article

A kinematic model of one- and two-link robotic vehicles with two or three steerable wheels is considered. A nonsmooth path in the form of an astroid enveloping the positions of the robot is planned. The motion of a two-link vehicle with such a trajectory is modeled. A numerical analysis of the dynamic of robots is performed determining the reactions of nonholonomic constraints

Keywords

one- and two-link robots planned path astroid steerable wheel 

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Copyright information

© Springer Science+Business Media, Inc. 2012

Authors and Affiliations

  1. 1.S. P. Timoshenko Institute of MechanicsNational Academy of Sciences of UkraineKyivUkraine

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