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Modular Dynamic Simulation of Wheeled Mobile Robots
[chapter]
2015
Springer Tracts in Advanced Robotics
This paper presents a modular method for 3D dynamic simulation of wheeled mobile robots (WMRs). Our method extends efficient dynamics algorithms based on spatial vector algebra to accommodate any articulated WMR configuration. In contrast to some alternatives, our method also supports complex, nonlinear wheel-ground contact models. Instead of directly adding contact forces, we solve for them in a novel differential algebraic equation (DAE) formulation. To make this possible we resolve issues of
doi:10.1007/978-3-319-07488-7_6
fatcat:arw7f2tx5je6lfhqfv536cqcum