Dynamic Modeling and Analysis of a Mobile Robot for Multi-movement States
Genqun Cui · Journal of Hebei University of Technology · 2009
The obstacle-negotiation processes of an articulated-tracked mobile robot were analyzed. Based on the mechanics analysis of tracklayer and Newton-Euler equation, a dynamic equation of compound obstacle-negotiation of the robot was developed. Then given the motion mode of the mobile platform, the motion characteristics of the robot and motor driving torque were analyzed. Finally the dynamics simulation of the robot was given to express well dynamic stability of the robot in the obstacle negotiation processes,which help to control the robot movement in compound obstacle-negotiation processes.