Kinematic and Dynamics Modeling of Nonholonomic Mobile Robot

Krzysztof Jasiński,Lech Murawski,Adam Szeleziński,Marcin Kluczyk

Scientific Journal of Gdynia Maritime University（2023）

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摘要

This paper presents computer simulation results of kinematic and dynamic of two and three – wheeled mobile robot, conducted in the Matlab&Simulink packet environment. Models of kinematics and dynamics were developed with the aid of Jacobians and Lagrange II multiplayers equations.

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关键词

robotics,modeling,control,mechatronics

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