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    Structural properties and classification on kinematic and dynamic models of wheeled mobile robots

    2011, Vol. 7, No. 4, pp.  733-769

    Author(s): Campion G., Bastin G., D’Andréa-Novel B.

    The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomity, mobility and controllability, configuration of the motorization, and feedback equivalence.
    Keywords: wheeled mobile robots, kinematic and dynamic models, nonholonomity, control
    Citation: Campion G., Bastin G., D’Andréa-Novel B., Structural properties and classification on kinematic and dynamic models of wheeled mobile robots, Rus. J. Nonlin. Dyn., 2011, Vol. 7, No. 4, pp.  733-769
    DOI:10.20537/nd1104002


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