Abstract
The motion of a mobile robot with one passive wheel and two driving wheels is considered. All the steady robot motions are found and their stability and branching are investigated. In contrast to numerous publications on this topic, wheel slip is allowed. Moreover, it is assumed that forces of viscous friction are applied at the point of contact with the base surface.
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Funding
The work is supported by the Russian Foundation for Basic Research (project no. 19-01-00140).
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Translated by E. Oborin
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Karapetyan, A.V., Katasonova, K.A. On the Motion of a Three-Wheel Robot with Slip of Driver Wheels. Mech. Solids 55, 941–946 (2020). https://doi.org/10.3103/S0025654420070122
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DOI: https://doi.org/10.3103/S0025654420070122