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Vol. 119, Issue 8, August 2010, pp.193-206




Dynamic Modeling of Step Climbing Wheeled Robot


*Srijan BHATTACHARYA, **Neeta SAHAY, ***Sagarika PAL, ***Subrata CHATTOPADHYAY

*Instrumentation & Control Engineering Department

**Applied Electronics & Instrumentation Engineering Department

Haldia Institute of Technology

P.O- Hatiberia, Haldia, Dist: Purba Medinipur – 721 657, India

***Department of Electrical Engineering, National Institute of Technical Teachers’ Training
and Research, Kolkata (Under MHRD, Govt. of India),

Block-FC, Sector-III, Salt Lake City, Kolkata-700 106, India

E-mail: psrijan@yahoo.co.in, spal922@yahoo.co.in, subrata0507@sify.com



Received: 24 May 2010   /Accepted: 17 August 2010   /Published: 31 August 2010


Abstract: This following article presents the dynamic modeling of the developed step-climbing robot. The main idea is to develop the mathematical representation of the developed model. In this article the inverse arm model of a Newton-Euler analysis of free body motion is shown. The purpose of this model is to allow to compute the motor voltage required to produce given accelerations when the current is known and state of the arm and all of its parameters.


Keywords: Inverse arm, Newton-Euler approach, Two-link robot base, Joint variable, Dynamic model.


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