Mathematical model of the control system of mobile caterpillar robot taking into account kinematic and dynamic parameters
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...
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| Format: | Article |
| Language: | English |
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Belarusian National Technical University
2023-11-01
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| Series: | Системный анализ и прикладная информатика |
| Subjects: | |
| Online Access: | https://sapi.bntu.by/jour/article/view/627 |
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| _version_ | 1832543632381444096 |
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| author | S. A. Pauliukavets A. A. Velchenko A. A. Radkevich |
| author_facet | S. A. Pauliukavets A. A. Velchenko A. A. Radkevich |
| author_sort | S. A. Pauliukavets |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-4ce925f6e4114e76a457a82f4f9f67e5 |
| institution | Kabale University |
| issn | 2309-4923 2414-0481 |
| language | English |
| publishDate | 2023-11-01 |
| publisher | Belarusian National Technical University |
| record_format | Article |
| series | Системный анализ и прикладная информатика |
| spelling | doaj-art-4ce925f6e4114e76a457a82f4f9f67e52025-02-03T11:37:40ZengBelarusian National Technical UniversityСистемный анализ и прикладная информатика2309-49232414-04812023-11-0103333810.21122/2309-4923-2023-3-33-38466Mathematical model of the control system of mobile caterpillar robot taking into account kinematic and dynamic parametersS. A. Pauliukavets0A. A. Velchenko1A. A. Radkevich2Belarusian National Technical UniversityBelarusian National Technical UniversityBelarusian National Technical UniversityThe 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.https://sapi.bntu.by/jour/article/view/627mobile caterpillar robotmathematical modelkinematic and dynamic parameters |
| spellingShingle | S. A. Pauliukavets A. A. Velchenko A. A. Radkevich Mathematical model of the control system of mobile caterpillar robot taking into account kinematic and dynamic parameters Системный анализ и прикладная информатика mobile caterpillar robot mathematical model kinematic and dynamic parameters |
| title | Mathematical model of the control system of mobile caterpillar robot taking into account kinematic and dynamic parameters |
| title_full | Mathematical model of the control system of mobile caterpillar robot taking into account kinematic and dynamic parameters |
| title_fullStr | Mathematical model of the control system of mobile caterpillar robot taking into account kinematic and dynamic parameters |
| title_full_unstemmed | Mathematical model of the control system of mobile caterpillar robot taking into account kinematic and dynamic parameters |
| title_short | Mathematical model of the control system of mobile caterpillar robot taking into account kinematic and dynamic parameters |
| title_sort | mathematical model of the control system of mobile caterpillar robot taking into account kinematic and dynamic parameters |
| topic | mobile caterpillar robot mathematical model kinematic and dynamic parameters |
| url | https://sapi.bntu.by/jour/article/view/627 |
| work_keys_str_mv | AT sapauliukavets mathematicalmodelofthecontrolsystemofmobilecaterpillarrobottakingintoaccountkinematicanddynamicparameters AT aavelchenko mathematicalmodelofthecontrolsystemofmobilecaterpillarrobottakingintoaccountkinematicanddynamicparameters AT aaradkevich mathematicalmodelofthecontrolsystemofmobilecaterpillarrobottakingintoaccountkinematicanddynamicparameters |