Journal of Theoretical
and Applied Mechanics

43, 3, pp. 511-521, Warsaw 2005

Description of motion of a mobile robot by Maggie's equations

Józef Giergiel, Wiesław Żylski
This work analyses problems of dynamics of a given two-wheeled mobile robot. Motion of such a non-holonomic system is described by Lagrange's and Maggie's equations. The received dynamical equations of motion allow for solving the direct and converse of problem dynamics. Maggie's equations give a simpler
form of the dynamical equations of motion. While solving the converse problem with the use of these equations, it is possible to determine the driving torque acting on the robot wheel. Values of the torque allow one to create a follow-up movement control algorithm of the robot.
Keywords: wheeled mobile robots; Maggie's equations