基于统一键合图法的四轮防滑移动机器人动力学建模

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI:10.1109/RCTFC.2016.7893412

S. Sahoo, S. Chiddarwar

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引用次数: 2

摘要

提出了四轮移动机器人系统的键合图建模方法。该方法可用于描述系统在不同物理域中的动态特性。利用MATLAB Simulink中的BGV_20工具箱对所建立的动态模型进行了仿真。用经典的牛顿-欧拉方法对仿真结果进行了验证，说明了动态建模技术的有效性。

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Dynamic modelling of four wheel skid mobile robot by unified bond graph approach

This paper presents a bond graph modelling of a four wheel mobile robotic system. The proposed method is used to describe the dynamics of the system in various physical domains. The developed dynamic model is simulated using the BGV_20 tool box in MATLAB Simulink. The simulated results are verified with the classical Newton-Euler method to illustrate the efficacy of the dynamic modelling technique.

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来源期刊

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC)

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