The kinematics of a two-link mobile robot with three steerable wheels moving in an L-shaped corridor is analyzed. A smooth (with continuous first derivative) path is designed maintaining the optimal maneuverability of the vehicle. The motion of the vehicle along this path is planned. Analytical expressions for the reactions at the contact of the wheels with the ground are given in the general case of motion. The radius of curvature of the programmed path is shown to have a strong influence on the reactions.
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Translated from Prikladnaya Mekhanika, Vol. 50, No. 2, pp. 134–144, March–April 2014.
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Antonyuk, E.Y., Zabuga, A.T. Dynamics of a Two-Link Vehicle in an L-Shaped Corridor Revisited. Int Appl Mech 50, 222–230 (2014). https://doi.org/10.1007/s10778-014-0626-x
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DOI: https://doi.org/10.1007/s10778-014-0626-x