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Modeling of dynamics of cooperating wheeled mobile robots

Burghardt Andrzej, Gierlak Piotr, Skwarek Wincenty

Journal of Theoretical and Applied Mechanics

2021

Vol. 59 nr 4

649--659

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.

Modeling the Kinematics of Two Robots with Denavit–Hartenberg Notation

Burghardt Andrzej, Skwarek Wincenty

Advances in Manufacturing Science and Technology

2020

Vol. 44, nr 4

121--128

This article presents a description and methodology for building a kinematics model for the formation of twowheeled mobile robots transporting a beam using Denavit–Hartenberg notation. The simple and inverse kinematics tasks of this formation were solved. Solutions of kinematics tasks are presented in junction coordinates and global coordinates. The obtained results were simulated using the Matlab–Simulink package together with animation of the solution using a programmed emulator of robot work.