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Robot simulation parameters
| Parameter | Description | Value |
|---|---|---|
| r | Wheel radius (m) | 0.06 |
| 2b | Driving wheel distances (m) | 0.31 |
| mG | Weight of robot flatform (kg) | 10 |
| mW | Weight of robot wheel (kg) | 0.7 |
| Distance of MG (m) | 0.1 | |
| IG | inertial moment of the platform about the vertical axis through point G (kg.m2) | 0.2 |
| Iw | inertial moment of each wheel about its rotational axis (kg.m2) | 0.0013 |
| ID | inertial moment of each wheel about its diameter axis (kg.m2) | 0.0038 |