Kinematics and dynamics of a three-wheeled 2-DOF AGV

A systematic method for the kinematic and dynamic modeling of a two-degree-of-freedom (DOF) automatic guided vehicle (AGV) is presented. This type of methodology can be used to analyze, design, simulate, and control any kind of rolling robots. The concept of orthogonal complement is used to develop the dynamical equations of motion. The vehicle is analyzed for simulation purposes. Simulation results are reported. It is shown that, using the natural orthogonal complement of the matrix of velocity constraint equations, it is possible to derive systematically the Euler-Lagrange equations of motion of nonholonomic robotic mechanical systems. Moreover, the introduction of the orthogonal complement leads naturally to an efficient computational algorithm