Features of the mathematical model for the control forces calculation of the four-wheeled robot

Features of the mathematical model for the control forces calculation of the four-wheeled robot

The article discusses the issue of determining program forces in drives of a four-wheel robotic platform - the issue of opening the uncertainty of the equations system. The motion laws are synthesized on the basis of application of the calculus of variations. The method of determining the program fo...

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Veröffentlicht in:IOP conference series. Materials Science and Engineering 2019-03, Vol.489 (1), p.12054
Hauptverfasser: Leonard, A V, Tverdohlebov, S A, Gavrilov, A E, Ustinov, S A, Burhanov, A A
Format: Artikel
Sprache:eng
Schlagworte:
Calculus of variations
Mathematical analysis
Rigid structures
Rigid-body dynamics
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Zusammenfassung:The article discusses the issue of determining program forces in drives of a four-wheel robotic platform - the issue of opening the uncertainty of the equations system. The motion laws are synthesized on the basis of application of the calculus of variations. The method of determining the program forces is based on the compilation of equations of the dynamics of a rigid body motion and additional equations - "zero-functions" (displacements) of the points of the application of redundant reactions.
ISSN:1757-8981
1757-899X
1757-899X
DOI:10.1088/1757-899X/489/1/012054