Modeling the Dynamics of Two Cooperating Robots
نویسندگان
چکیده
The paper presents a description of the dynamics two mobile robots cooperating in transport bulky load form beam. purpose modeling such system was to obtain mathematical model an appropriate form. Lagrange equations second type were used describe dynamics, followed by projection method, which allowed for elimination multipliers. Thanks this approach, unknown dry friction forces at contact points robots’ wheels with ground eliminated from description, and controllable coordinates obtained. resulting has structural properties that enable its use synthesis control based on model.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2021
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app11136019