D. Martínez-Vázquez

Unified Euler–Lagrange Framework for Dynamic Modeling of Wheeled Mobile Robots: Holonomic and Non-Holonomic Architectures

This paper presents a unified Euler–Lagrange methodology for deriving the dynamic models of wheeled mobile robots (WMRs) across heterogeneous kinematic architectures. The work extends the authors’ previously developed kinematic methodology to the dynamic level, handling both holonomic platforms, where free roller motio...