Kinematics and Dynamic Modeling and Simulation Analysis of Three-wheeled Mobile Robot

Du, Yun

doi:10.12783/dtetr/mdm2016/4940

Cited by 2 publications

(2 citation statements)

References 3 publications

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“…Similarly, Yun et al use the coordinate transformation method and Lagrange equations to establish the kinematics and dynamic model of a three-wheeled mobile robot with two coaxial driving wheels and a driven wheel [14]. Unlike our model, no friction is considered.…”

Section: Related Workmentioning

confidence: 99%

Performance and Extreme Conditions Analysis Based on Iterative Modelling Algorithm for Multi-Trailer AGVs

2022

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Automatic guidance vehicles (AGV) are industrial vehicles that play an important role in the development of smart manufacturing systems and Industry 4.0. To provide these autonomous systems with the flexibility that is required today in these industrial workspaces, AGV computational models are necessary in order to analyze their performance and design efficient planning and control strategies. To address these issues, in this work, the mathematical model and the algorithm that implement a computational control-oriented simulation model of a hybrid tricycle-differential AGV with multi-trailers have been developed. Physical factors, such as wheel-ground interaction and the effect of vertical and lateral loads on its dynamics, have been incorporated into the model. The model has been tested in simulation with two different controllers and three trajectories: a circumference, a square, and an s-shaped curve. Furthermore, it has been used to analyze extreme situations of slipping and capsizing and the influence of the number of trailers on the tracking error and the control effort. This way, the minimum lateral friction coefficient to avoid slipping and the minimum ratio between the lateral and height displacement of the center of gravity to avoid capsizing have been obtained. In addition, the effect of a change in the friction coefficient has also been simulated.

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Section: Related Workmentioning

confidence: 99%

Performance and Extreme Conditions Analysis Based on Iterative Modelling Algorithm for Multi-Trailer AGVs

2022

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“…Also, the huge research area is modelling of mobile robotics behaviours. The kinematics and dynamic analysis of mobile robot was done in [5]. Investigation of behaviour of group of mobile robots is subject of research in [8,9].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modelling of Mobile Robots Based on its 3D CAD Model

Damić¹,

Cohodar²,

Muratovic³

2017

DAAAM Proceedings

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Usage of the mobile robots is extended in all areas of human life and work. The investigation of their behaviour becomes popular among the researchers around the world. Dynamic modelling of the mobile robot can be simplified by using their 3D CAD model. In this paper, the dynamic model of mobile robot is developed by MATLAB/Simulink using previously created 3D CAD model in SOLIDWORKS. As example, the mobile robot Robotino by FESTO is chosen. Assembly of mobile robot in form of xml file is imported from SOLIDWORKS to MATLAB. Such approach provides automatically generation of dynamics of robot's mechanical subsystem. Then, the model can be modified and upgraded, for instance to organize it on several levels, to actuate the wheels by motors, etc. Validation of the dynamic model is performed by simulation.

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Kinematics and Dynamic Modeling and Simulation Analysis of Three-wheeled Mobile Robot

Cited by 2 publications

References 3 publications

Performance and Extreme Conditions Analysis Based on Iterative Modelling Algorithm for Multi-Trailer AGVs

Performance and Extreme Conditions Analysis Based on Iterative Modelling Algorithm for Multi-Trailer AGVs

Dynamic Modelling of Mobile Robots Based on its 3D CAD Model

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