Mathematical model of the control system of mobile caterpillar robot taking into account kinematic and dynamic parameters

S. A. Pauliukavets, A. A. Velchenko, A. A. Radkevich
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引用次数: 0

Abstract

The paper developed a mathematical model of the control system for a mobile tracked robot, which takes into account the kinematic parameters (angular speeds of rotation of the rollers and the center of mass of the robot, the linear speed of the robot and its angle of rotation relative to the normal to the axis) and dynamic parameters (moments of inertia, resistance forces and electromechanical parameters used electric motors), which made it possible to give the most complete mathematical representation of the description of the movement of a caterpillar mobile robot. A control system for mobile robots along a predetermined trajectory is obtained, taking into account position feedback.
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考虑运动学和动力学参数的移动履带机器人控制系统数学模型
本文建立了移动履带机器人控制系统的数学模型,该模型考虑了运动学参数(机器人滚轮和质心的旋转角速度、机器人的线速度及其相对于轴的法线转角)和动力学参数(惯量、阻力和电机机电参数)。这使得对履带式移动机器人的运动描述给出最完整的数学表示成为可能。给出了一种考虑位置反馈的移动机器人沿预定轨迹运动控制系统。
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审稿时长
8 weeks
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