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Dynamics of an omni-mobile vehicle. (Russian, English) Zbl 1189.70020
Prikl. Mat. Mekh. 73, No. 1, 13-22 (2009); translation in J. Appl. Math. Mech. 73, No. 1, 8-15 (2009).
The paper addresses the motion of an omni-mobile vehicle on a horizontal plane whose wheels are modeled by absolutely rigid disks. Dynamic equations of motion are derived for such vehicles with an arbitrary number of arbitrary located wheels. A complete qualitative description of the inertial motion of the vehicles is given (the control effect and the axis friction are assumed to be absent).

70E55 Dynamics of multibody systems
70E60 Robot dynamics and control of rigid bodies
70K50 Bifurcations and instability for nonlinear problems in mechanics
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