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Keywords: multibody dynamicsClose
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2022, 2(4): 040902.
Paper No: ALDSC-22-1025
Published Online: October 19, 2022
... dynamic model of a nonholonomic omni-wheel robot, including roller dynamics. That allows for a proportional–integral–derivative control law to accurately follow arbitrary paths. Kane’s approach was used for the dynamic model derivation. Kinematic modeling is less complex than multibody dynamic modeling...