The problem of modeling of dynamics of a three-wheeled mobile robot with front wheel driven and steered is analyzed in this paper. Kinematical structure and kinematics of the robot are described. A universal methodology of analytical modeling of robot's dynamics is applied. This methodology takes into account wheel-ground contact conditions and wheels' slip. Its essence is the use of a contact model of deformable tire with rigid ground and division of the robot's dynamics model into parts connected with wheels, including tire model, and with the mobile platform. The tire model used in this paper results from empirical dependencies determined during investigations of car tires. Ground geometry and type are specified in the environment model. Tire-ground interface is characterized by coefficients of friction and rolling resistance. The robot model takes into account the presence of friction in kinematical pairs. The model of servomotors is included as well. The important part of this work is simulation research performed using Matlab/Simulink package. Simulation research includes solving of the forward and inverse dynamics problems as well as the tracking control task. During simulations, the robot was moving on concrete and on a piece of ice. The simulation research enabled verification of the elaborated solutions.
Modeling and motion simulation of a three-wheeled mobile robot with front wheel driven and steered taking into account wheels' slip
Simulation der Bewegung eines selbstfahrenden Roboters unter Berücksichtigung des Reifenschlupfes
Archive of Applied Mechanics ; 83 , 1 ; 109-124
2013
16 Seiten, 7 Bilder, 1 Tabelle, 20 Quellen
Article (Journal)
English
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