DESCRIPTION OF MOTION OF A MOBILE ROBOT BY MAGGIE'S EQUATIONS

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. Key words: wheeled mobile robots, Maggie's equations 1. Analytical modelling The analysis of the problems of dynamics of a two-wheeled mobile robot is mainly made in order to properly solve the problem of control of motion of such systems. Simple models, which do not take into account mass of many mobile elements, are very often assumed for the system description. Author