Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot

摘要: In this research work, a new method for solving forward and inverse dynamic problems of mechanical systems having an underactuated structure subjected to holonomic and/or nonholonomic constraints is developed. The devised in paper based on the combination Udwadia-Kalaba Equations with Underactuation Equivalence Principle. First, analytical employed handling control nonlinear same computational framework. Subsequently, Principle used extending capabilities from fully actuated systems. represents efficient recently developed field classical mechanics. mathematically formalizing underactuation property system considering particular set algebraic defined at acceleration level. On other hand, study, are analytically reformulated mathematical form suitable treating problems. By doing so, conjunction developing approach. As shown detail investigation, proposed can be explicit manner several particular, tracking unicycle-like mobile robot considered investigation as benchmark example. Numerical experiments model confirm effectiveness approaches work.