Dynamic modeling of a simplified model of omni-directional wheels *
- Resource Type
- Conference
- Authors
- Yong, Wang; Ling, Yin; Jinchao, Cui; Huailing, Zhang
- Source
- 2023 IEEE International Conference on Real-time Computing and Robotics (RCAR) Real-time Computing and Robotics (RCAR), 2023 IEEE International Conference on. :522-526 Jul, 2023
- Subject
- Computing and Processing
Robotics and Control Systems
Computational modeling
Wheels
Differential equations
Aerospace electronics
Mathematical models
Real-time systems
Mobile robots
- Language
In this paper, omni-directional wheels is simplified as a 3-degree-of-freedom nonholonomic system. The differential equations of motion of the simplified model in its different reduced configuration spaces are studied by using the first-order linear nonholonomic mapping theory. These differential equations of motion are equivalent, but their form depends on the geometric structure of the reduced configuration space. In particular, this paper points out that the simplified model of the omni-directional wheel can be quasi-canonicalized by selecting a special quasi-coordinate. This will lay a foundation for the study of the Hamilton control method of omni-directional wheels.