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Determining the constraint reactions of awheeled robotic vehicle with one steerable wheel

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The reactions of the nonholonomic constraints of a wheeled robotic vehicle with one steerable wheel are determined. Simplified (asymptotic) relations are derived in addition to the exact ones. They are used to estimate the reactions. The efficiency of the approximate formulas is demonstrated by an example

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Authors and Affiliations

  1. S. P. Timoshenko Institute of Mechanics, National Academy of Sciences of Ukraine, 3 Nesterov St., Kyiv, Ukraine, 03057

    V. B. Larin

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  1. V. B. Larin
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Correspondence to V. B. Larin.

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Translated from Prikladnaya Mekhanika, Vol. 44, No. 11, pp. 123–131, November 2008.

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Larin, V.B. Determining the constraint reactions of awheeled robotic vehicle with one steerable wheel. Int Appl Mech 44, 1302–1308 (2008). https://doi.org/10.1007/s10778-009-0136-4

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  • DOI: https://doi.org/10.1007/s10778-009-0136-4

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