Abstract:
This paper presents original concepts to represent
and deal with kinematic constraints imposed on mobile robots.
This is based on formulations derived originally for the
dynamics of multibody systems and applied to robotic
manipulator arms. This representation has several advantages
such as its ability to deal with kinematically excited modes,
derive a physically meaningful state-space representation, and
find corresponding constraining forces. The paper shows how to
apply these concepts to different types of mobile robots such as
those modelled as unicycle or bicycle.