Dynamics Model of a Three-Wheeled Mobile Robot Taking into Account Slip of Wheels

被引：1
|
作者：
Trojnacki, Maciej [1 ]
机构：
[1] Ind Res Inst Automat & Measurements PIAP, Warsaw, Poland
来源：
RECENT ADVANCES IN SYSTEMS, CONTROL AND INFORMATION TECHNOLOGY | 2017年 / 543卷
关键词：
Wheeled mobile robot; Wheel slip; Dynamics model; Tire model; Drive unit model;
D O I：
10.1007/978-3-319-48923-0_41
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of modeling of dynamics of a three-wheeled mobile robot is analyzed in this paper. The robot has two non-steered driven wheels and a caster. Kinematic structure of the robot and its kinematics are described. Dynamics model of the robot dedicated for control applications is derived. It takes into account tire-ground contact conditions and slip of wheels. The tire-ground contact conditions are characterized by coefficients of friction and rolling resistance. The tire model in a simple form, which considers only the most important effects of tire-ground interaction, is applied. Electromechanical model of a servomotor used for driving the robot is also included.
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页码：378 / 386
页数：9
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