Model of Motion of the Mobile Platform With Three Wheel Drive

• Autorzy: Jaskot A. , Posiadała B.
• Języki publikacji: EN

Abstrakty

EN

In this paper the results of the analysis based on the kinematics and the dynamics models of the three-wheeled mobile robot, with two rear wheels and one front wheel have been included. The prototype model has been developed by the author’s construction assumptions to realize the motion of the platform in a various configurations of wheel drives. The platform dynamical model has been described considering the slippage conditions during the motion of the platform. The motion parameters of the mobile platform have been determined by adopting classical approach of mechanics. The formulated initial problem has been solved numerically using the Runge-Kutta method of the fourth-order.

Słowa kluczowe

EN

mobile platform; kinematics; dynamics; friction; wheel motion

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Machine Dynamics Research
• Rocznik: 2018
• Tom: Vol. 42, No. 1
• Strony: 35--43
• Opis fizyczny: Bibliogr. 6 poz., rys., wykr.

Twórcy

autor

Jaskot A.

• Czestochowa University of Technology Institute of Mechanics and Machine Design Fundamentals

autor

Posiadała B.

• Czestochowa University of Technology Institute of Mechanics and Machine Design Fundamentals

Bibliografia

• [1] Ali, Z. A., Wang, D., Safwan, M., Jiang, W., and Shafiq, M. (2016). Trajectory tracking of a nonholonomic wheeleed mobile robot using hybrid controller. International Journal of Modeling and Optimization, 6(3):136.
• [2] Ibrahim, E. (2016). Wheeled mobile robot trajectory tracking using sliding mode control. J. Comput. Sci, 12(1):48–55.
• [3] Jaskot, A. and Posiadała, B. (2017). Dynamics model of the mobile platform for its various configurations. 4th International Conference Mechatronics: Ideas for Industrial Applications, pages 13–15.
• [4] Jaskot, A., Posiadała, B., and Śpiewak, S. (2017). Dynamics model of the mobile platform for its various configurations. Procedia Engineering, 177:162–167.
• [5] Lucet, E., Lenain, R., and Grand, C. (2015). Dynamic path tracking control of a vehicle on slippery terrain. Control Engineering Practice, 42:60–73.
• [6] Salem, F. A. (2013). Kinematics and dynamic models and control for differential drive mobile robots. Int. J. Current Eng. Technol, 3:253–263.

Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).