Dear Umedjon Juraev ,

This article focuses on the modeling of two-wheel mobile robot with differential chassis, which is moving in the plane. According to the application, it can be modeled with different accuracy levels depending on structural limits and other physical impacts. Main goal of this article is to include the effects of friction into the mobile robot dynamics. Four basic models of friction are combined into generalized model, which is then implemented as single Simulink block and added to model of mobile robot.

Conference Paper Mobile Robot Dynamics with Friction in Simulink

Regards,

Shafagat