Analysis of castor wheels rotation of mobile differential drive robot
Mathematical models for controlling centrally oriented and non-centrally oriented rotary wheels of a mobile robot are considered. Based on the analysis of the kinematics of the mobile robot, the dependences of the rotation angle of the rear and front free wheel on the angular velocities of the right...
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| Format: | Article |
| Language: | English |
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Belarusian National Technical University
2024-01-01
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| Series: | Системный анализ и прикладная информатика |
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| Online Access: | https://sapi.bntu.by/jour/article/view/643 |
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| author | A. A. Radkevich Shixin Yang U. A. Zaretski A. A. Velchenko S. A. Pauliukavets |
| author_facet | A. A. Radkevich Shixin Yang U. A. Zaretski A. A. Velchenko S. A. Pauliukavets |
| author_sort | A. A. Radkevich |
| collection | DOAJ |
| description | Mathematical models for controlling centrally oriented and non-centrally oriented rotary wheels of a mobile robot are considered. Based on the analysis of the kinematics of the mobile robot, the dependences of the rotation angle of the rear and front free wheel on the angular velocities of the right and left differentially driven drive wheel were obtained. For a specific mobile robot with certain kinematic parameters, graphs of the dependences of the angle of rotation of the free wheels on the radius of rotation of each wheel and graphs of the dependences of the angle of rotation of the free wheels on the angular velocities of the driving wheels were constructed. The results obtained made it possible to establish a pattern between the angle of rotation of the castor wheels and the design characteristics of the robot. A certain range of angular velocities of the driving wheels in accordance with the limiting values of the caster wheel rotation angles makes it possible to take into account the obtained mathematical models to increase the stability of the movement of the mobile robot. |
| format | Article |
| id | doaj-art-2a824949ef9d42809f74feb148f865f3 |
| institution | Kabale University |
| issn | 2309-4923 2414-0481 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Belarusian National Technical University |
| record_format | Article |
| series | Системный анализ и прикладная информатика |
| spelling | doaj-art-2a824949ef9d42809f74feb148f865f32025-02-03T11:37:40ZengBelarusian National Technical UniversityСистемный анализ и прикладная информатика2309-49232414-04812024-01-0104303610.21122/2309-4923-2023-4-30-36474Analysis of castor wheels rotation of mobile differential drive robotA. A. Radkevich0Shixin Yang1U. A. Zaretski2A. A. Velchenko3S. A. Pauliukavets4Belarusian National Technical UniversityBelarusian National Technical UniversityBelarusian National Technical UniversityBelarusian National Technical UniversityBelarusian National Technical UniversityMathematical models for controlling centrally oriented and non-centrally oriented rotary wheels of a mobile robot are considered. Based on the analysis of the kinematics of the mobile robot, the dependences of the rotation angle of the rear and front free wheel on the angular velocities of the right and left differentially driven drive wheel were obtained. For a specific mobile robot with certain kinematic parameters, graphs of the dependences of the angle of rotation of the free wheels on the radius of rotation of each wheel and graphs of the dependences of the angle of rotation of the free wheels on the angular velocities of the driving wheels were constructed. The results obtained made it possible to establish a pattern between the angle of rotation of the castor wheels and the design characteristics of the robot. A certain range of angular velocities of the driving wheels in accordance with the limiting values of the caster wheel rotation angles makes it possible to take into account the obtained mathematical models to increase the stability of the movement of the mobile robot.https://sapi.bntu.by/jour/article/view/643rotary wheelmobile robotdifferential drivecastor wheelkinematic modelturning angleturning radius |
| spellingShingle | A. A. Radkevich Shixin Yang U. A. Zaretski A. A. Velchenko S. A. Pauliukavets Analysis of castor wheels rotation of mobile differential drive robot Системный анализ и прикладная информатика rotary wheel mobile robot differential drive castor wheel kinematic model turning angle turning radius |
| title | Analysis of castor wheels rotation of mobile differential drive robot |
| title_full | Analysis of castor wheels rotation of mobile differential drive robot |
| title_fullStr | Analysis of castor wheels rotation of mobile differential drive robot |
| title_full_unstemmed | Analysis of castor wheels rotation of mobile differential drive robot |
| title_short | Analysis of castor wheels rotation of mobile differential drive robot |
| title_sort | analysis of castor wheels rotation of mobile differential drive robot |
| topic | rotary wheel mobile robot differential drive castor wheel kinematic model turning angle turning radius |
| url | https://sapi.bntu.by/jour/article/view/643 |
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