Modeling of dynamics of cooperating wheeled mobile robots

• Autorzy: Burghardt Andrzej , Gierlak Piotr , Skwarek Wincenty

Identyfikatory

DOI

10.15632/jtam-pl/141668

• Języki publikacji: EN

Abstrakty

EN

The work presents dynamics of a system of two wheeled mobile robots cooperating in the transport of large-size cargo in the form of a beam. The purpose of modeling of such a system was to obtain a mathematical model in an applicable form. Lagrange equations of the second type were used to describe dynamics, and then the projective method was used to eliminate Lagrange multipliers. Thanks to this approach, unknown dry friction forces at the contact points of robot wheels with the ground were eliminated from the description, and dynamics in controllable coordinates was obtained. In addition, the obtained model has structural properties that enable its use in synthesis of a control system based on the mathematical model.

Słowa kluczowe

EN

wheeled mobile robots; modeling of dynamics; formation robots

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2021
• Tom: Vol. 59 nr 4
• Strony: 649--659
• Opis fizyczny: Bibliogr. 19 poz., rys.

Twórcy

autor

Burghardt Andrzej

• Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Rzeszów, Poland

• https://orcid.org/0000-0002-7358-4866

autor

Gierlak Piotr

• Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Rzeszów, Poland

• https://orcid.org/0000-0003-4545-8253

autor

Skwarek Wincenty

• Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Rzeszów, Poland

Bibliografia

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• 10. Hendzel Z., Burghardt A., Szuster M., 2015, Artificial intelligence algorithms in behavioural control of wheeled mobile robots formation, [In:] Computational Intelligence. Studies in Computational Intelligence, V. 577, Madani K., Correia A., Rosa A., Filipe J. (Eds), Springer, Cham.
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• 17. Wang D., Low C.B., 2008, Modeling and analysis of skidding and slipping in wheeled mobile robots: control design perspective, IEEE Transactions on Robotics, 24, 3, 676-687.
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Uwagi

„Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).”