%0 Journal Article
%T Modelo Cinem¨¢tico Din¨¢mico del Mini Rob¨®t M¨®vil Ricimaf
%A del Pozo Quintero
%A Abelardo
%J Ingenier£¿-a Electr£¿3nica, Autom£¿£¿tica y Comunicaciones
%D 2012
%I Instituto Superior Polit¨¦cnico Jos¨¦ Antonio Echeverr¨ªa (Cujae)
%X this paper describes the dynamic model of the wheeled mini mobile robot built in the icimaf whose traction is achieved by means of two motors coupled to two lined plastic wheels with a rubber layer to facilitate its movement and a directional small castor wheel. the necessary jacobian structure is elaborated for the development of the dynamic model.the analysis of a special feature of these robots is included that is its nature non holon¨®mic, in contrast with the robots manipulators, what gives place to a type of restriction of the movement. the elaboration of the dynamic model originated the employment of the lagrange's multipliers. for the obtaining dynamic equations the euler-lagrange' method is used.
%K kinematic and dynamic models
%K jacobian matrix
%K inverse dynamic
%K holonomic and nonholon¨®mic constraints
%K equations of euler-lagrange.
%U http://scielo.sld.cu/scielo.php?script=sci_abstract&pid=S1815-59282012000300005&lng=en&nrm=iso&tlng=en