Iran University of Science and Technology
University of Wollongong
This paper presents a systematic algorithm for deriving dynamic equations by using homogeneous transformation matrices to obtain the constraint equations. The program, developed based on LagrangeÝs dynamic approach, is applicable to WMRÝs. In order to check the validity of the model, results are compared with experimental results. In the simulation, the WMR is required to follow a specified trajectory. The results obtained, illustrate the tracking of the reference trajectory and show the necessity of the slippage, rolling resistance, deformability of wheels and effects of other passive wheels. Keywords: Mobile Robots, Mathematical Modelling, Wheeled.