Kinematyka Mobilnego Robota Transportowego

Szuster, Marcin; Obal, Paweł

doi:10.15199/148.2017.2.2

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Dynamiczne Równania Ruchu1

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2018

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“…Do opisu dynamiki MRT wykorzystano równania Lagrange'a drugiego rodzaju z mnożnikami. Przyjęto model MRT [9] przedstawiony na rys. 2, składający się z: ramy 5, dwóch kół podporowych 1 i 2, koła napędzającego 3 zamocowanego do kierownicy 4 i podnośnika widłowego 6.…”

Section: Dynamiczne Równania Ruchuunclassified

The dynamics of a mobile transport robot

Szuster

Obal

2018

Mechanik

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The article presents the construction of a mobile transport robot which is a forklift model, used for laboratory testing of control methods for complex dynamic objects in changing operating conditions. The robot dynamics is calculated using Lagrange equations of the 2nd type with multipliers. The results of solving the inverse dynamics problem were presented using the robot’s trajectory which consists of stages of movement typical for transport tasks performed by forklift.

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Section: Dynamiczne Równania Ruchuunclassified