Features of the mathematical model for the control forces calculation of the four-wheeled robot

International Conference of Young Scientists and Students "Topical Problems of Mechanical Engineering 2018"

Leonard, A.V.^1 ; Tverdohlebov, S.A.^1 ; Gavrilov, A.E.^1 ; Ustinov, S.A.^1 ; Burhanov, A.A.^1

Automatic Units Department, Volgograd State Technical University, Lenin avenue, 28, Volgograd

400005, Russia^1

关键词: Additional equations;    Calculus of variations;    Control force;    Motion law;    Rigid-body motion;    Robotic platforms;    Wheeled robot;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/489/1/012054/pdf
DOI  :  10.1088/1757-899X/489/1/012054

来源: IOP

【 摘 要 】

The article discusses the issue of determining program forces in drives of a four-wheel robotic platform - the issue of opening the uncertainty of the equations system. The motion laws are synthesized on the basis of application of the calculus of variations. The method of determining the program forces is based on the compilation of equations of the dynamics of a rigid body motion and additional equations - "zero-functions" (displacements) of the points of the application of redundant reactions.