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Dynamika a řízení fotbalového robota s použitím přímé linearizace Grepl, Robert ; Kratochvíl, Ctirad ; Šolc, F. ; Hrabec, J. The paper deals with the kinematics and dynamics of two wheeled differentially driven soccer robot. Reduced dynamical model is derived using defined nonholonomic constraints. Further, the method of exact linearization is used for global linearization of system dynamics. Finally, simple linear control is implemented and tested on simulation model. Detailed record

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