S. A. Pauliukavets, A. A. Velchenko, A. A. Radkevich
{"title":"考虑运动学和动力学参数的移动履带机器人控制系统数学模型","authors":"S. A. Pauliukavets, A. A. Velchenko, A. A. Radkevich","doi":"10.21122/2309-4923-2023-3-33-38","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":30907,"journal":{"name":"Sistemnyj Analiz i Prikladnaa Informatika","volume":" 12","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Mathematical model of the control system of mobile caterpillar robot taking into account kinematic and dynamic parameters\",\"authors\":\"S. A. Pauliukavets, A. A. Velchenko, A. A. Radkevich\",\"doi\":\"10.21122/2309-4923-2023-3-33-38\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":30907,\"journal\":{\"name\":\"Sistemnyj Analiz i Prikladnaa Informatika\",\"volume\":\" 12\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-11-09\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Sistemnyj Analiz i Prikladnaa Informatika\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.21122/2309-4923-2023-3-33-38\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Sistemnyj Analiz i Prikladnaa Informatika","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.21122/2309-4923-2023-3-33-38","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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 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.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
