Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot
In this research work, a new method for solving forward and inverse dynamic problems of mechanical systems having an underactuated structure and subjected to holonomic and/or nonholonomic constraints is developed. The method devised in this paper is based on the combination of the Udwadia-Kalaba Equ...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-01-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2075-1702/7/1/5 |