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    Application of laconic forms of the equations of motion in the dynamics of nonholonomic mobile robots


    2011, Vol. 7, No. 4, pp.  771-783

    Author(s): Zobova A. A.

    The paper considers a new laconic method for deriving the dynamical equations of nonholonomic systems proposed by Ya.V. Tatarinov in 2003 for description of the dynamics of wheel systems of three different types (piano wheel, carriages with roller-bearing wheels, with differential drive).
    Keywords: systems with differential constraints, laconic form of Ya.V. Tatarinov’s equations of motion, mobile vehicles
    Citation: Zobova A. A., Application of laconic forms of the equations of motion in the dynamics of nonholonomic mobile robots, Rus. J. Nonlin. Dyn., 2011, Vol. 7, No. 4, pp.  771-783
    DOI:10.20537/nd1104003


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