Modeling of dynamics of cooperating wheeled mobile robots

The work presents dynamics of a system of two wheeled mobile robots cooperating in the transport of large-size cargo in the form of a beam. The purpose of modeling of such a system was to obtain a mathematical model in an applicable form. Lagrange equations of the second type were used to describe dynamics, and then the projective method was used to eliminate Lagrange multipliers. Thanks to this approach, unknown dry friction forces at the contact points of robot wheels with the ground were eliminated from the description, and dynamics in controllable coordinates was obtained. In addition, the obtained model has structural properties that enable its use in synthesis of a control system based on the mathematical model.