Z Geometry for Rolling Wheel with Two Actuators Z

m Y
1

(x,y)

Geometry for Rolling Wheel with Two Actuators

m
1

Z
X
m

(x,y)

Z Z

Geometry for Rolling Wheel with Two Actuators

m
1

(x,y)

Z Z

Geometry for Rolling Wheel with Two Actuators

m
1

Y T:=(1/2)*m*(V[X]^2+V[Y]^2+V[Z]^2) +(1/2)*(J[1]*omega[x]^2+J[2]*omega[y]^2 +J[1]*omega[z]^2)

(x,y)

Geometry for Rolling Wheel with Two Actuators

m
1

Z
X
m

(x,y)

=0

=0

=0

=0

=0

=0

=0