Modelado matemático de la posición del centro de masa de un robot de tracción diferencial. Un Enfoque desde la Mecánica Lagrangiana

The target of this paper is to develop and validate a mathematical model to determine the center of mass’ position and orientation of a mobile robot (NXT LEGO Kit 2.0). The model takes into account input voltage applied to wheel’s servomotors and is formulated using dynamic and kinematics of the rob...

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Autores:
Cardona Guio, Juan Pablo
Leal J.J.
Ramirez J.L.
Tipo de recurso:
Article of journal
Fecha de publicación:
2018
Institución:
Universidad Cooperativa de Colombia
Repositorio:
Repositorio UCC
Idioma:
OAI Identifier:
oai:repository.ucc.edu.co:20.500.12494/41280
Acceso en línea:
https://doi.org/10.4067/S0718-07642018000600307
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85083815592&doi=10.17533%2fudea.iatreia.48&partnerID=40&md5=1c025a74329e863b822df839160f29cf
https://hdl.handle.net/20.500.12494/41280
Palabra clave:
Dynamics
Mathematical models
MATLAB
Mechanics
Mobile robots
Center of mass
Differential mobile robots
Input voltages
Lagrangian mechanics
MATLAB/ SIMULINK
Position and orientations
Student - tests
Traction robot
Lagrange multipliers
Rights
closedAccess
License
http://purl.org/coar/access_right/c_14cb