Dynamics and Control of Constrained Multibody Systems modeled with Maggi's equation: Application to Differential Mobile Robots Part I

27th International Conference on CADCAM, Robotics and Factories of the Future 2014

工业技术;机械制造

Amengonu, Yawo H.^1 ; Kakad, Yogendra P.^1

Electrical and Computer Engineering Department, University of North Carolina at Charlotte, Charlotte, NC 28223, United States^1

关键词: Constrained multibody systems;    Differential mobile robots;    Dynamics and control;    Euler-Lagrange method;    Kinematic constraints;    Non holonomic constraint;    Quasi-velocities;    Second-order differential equation;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/65/1/012017/pdf
DOI  :  10.1088/1757-899X/65/1/012017

学科分类：工业工程学

来源: IOP

【 摘 要 】

Quasivelocity techniques such as Maggi's and Boltzmann-Hamel's equations eliminate Lagrange multipliers from the beginning as opposed to the Euler-Lagrange method where one has to solve for the n configuration variables and the multipliers as functions of time when there are m nonholonomic constraints. Maggi's equation produces n second-order differential equations of which (n-m) are derived using (n-m) independent quasivelocities and the time derivative of the m kinematic constraints which add the remaining m second order differential equations. This technique is applied to derive the dynamics of a differential mobile robot and a controller which takes into account these dynamics is developed.