Abstract
This paper proposes a general formulation of the dynamic model of constrained, articulated limb of wheel-legged mobile robot. Dynamic model of the system has been formulated in terms of actuated joints using Euler-Lagrange formulation. Implicit kinematic model is used to provide dependences between articulated and unarticulated joint rates, velocities and accelerations used in the model. Based on dynamic model of the system a nonlinear controller has been proposed. Numerical model of the limb has been built in order to verify the validity of the control laws. Exemplary simulations have been presented to show asymptotic stability of control system.
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Sperzyński, P., Szrek, J. (2014). Control of Constrained Dynamic System of Leg of Wheel-Legged Mobile Robot. In: Petuya, V., Pinto, C., Lovasz, EC. (eds) New Advances in Mechanisms, Transmissions and Applications. Mechanisms and Machine Science, vol 17. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7485-8_25
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DOI: https://doi.org/10.1007/978-94-007-7485-8_25
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-7484-1
Online ISBN: 978-94-007-7485-8
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