Dynamics model of a three-wheeled mobile robot taking into account slip of wheels

Abstract

The problem of modeling of dynamics of a three-wheeled mobile robot is analyzed in this paper. The robot has two non-steered driven wheels and a caster. Kinematic structure of the robot and its kinematics are described. Dynamics model of the robot dedicated for control applications is derived. It takes into account tire-ground contact conditions and slip of wheels. The tire-ground contact conditions are characterized by coefficients of friction and rolling resistance. The tire model in a simple form, which considers only the most important effects of tire-ground interaction, is applied. Electromechanical model of a servomotor used for driving the robot is also included.