Modeling the Dynamics of Two Cooperating Robots

The paper presents a description of the dynamics of two mobile robots cooperating in the transport of a bulky load in the form of a beam. The purpose of modeling such a system was to obtain a mathematical model in an appropriate form. Lagrange equations of the second type were used to describe the dynamics, followed by the projection method, which allowed for the elimination of Lagrange multipliers. Thanks to this approach, the unknown dry friction forces at the contact points of the robots’ wheels with the ground were eliminated from the description, and the dynamics in the controllable coordinates were obtained. The resulting model has structural properties that enable its use in the synthesis of a control system based on a mathematical model