| Issue |
MATEC Web Conf.
Volume 220, 2018
2018 The 2nd International Conference on Mechanical, System and Control Engineering (ICMSC 2018)
|
|
|---|---|---|
| Article Number | 06001 | |
| Number of page(s) | 5 | |
| Section | Intelligent Robot and Control Technology | |
| DOI | https://doi.org/10.1051/matecconf/201822006001 | |
| Published online | 29 October 2018 | |
The Tricycle Mobile Robot Movement Simulation
1 Department of Robotics and Industry Mechanization, Tula State University, Tula, Russia
2 Tula State Lev Tolstoy Pedagogical University, Tula, Russia
The analytical model of three wheels mobile robot as the control object is worked out with use of the theoretical mechanics. Model includes two parts, part which describes longitudinal acceleration and dynamics of maneuvers on the azimuth angle and part which describes transverse oscillations of trunk relatively to the ground. For description of acceleration characteristics and maneuvering on the azimuth angle robot is considered as the trunk with installed two direct current motors at the base of the isosceles triangle and absolutely passive wheel installed in the vertex of the isosceles triangle. For description of transverse oscillations robot is considered as rigid trunk placed on viscose-elastic supports, and every support moves on its own land trajectory. It is shown that the result obtained may be used both for direct synthesis of mobile robot control system, and for evaluation of Nyquist frequency of sensors signal digitizing, which minimize information losses in mobile robot digital control system.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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