Mobile Robot Dynamics with Friction in Simulink
نویسندگان
چکیده
This article focuses on the modeling of two-wheel mobile robot with differential chassis, which is moving in the plane. According to the application, it can be modeled with different accuracy levels depending on structural limits and other physical impacts. Main goal of this article is to include the effects of friction into the mobile robot dynamics. Four basic models of friction are combined into generalized model, which is then implemented as single Simulink block and added to model of mobile robot. Experiments show behaviour of friction models and mobile robot with friction.
منابع مشابه
Dynamical formation control of wheeled mobile robots based on fuzzy logic
In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...
متن کاملDynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains
Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملModeling and Simulation of a Pneumatically-Actuated Rescue Robot
A four-legged pneumatically actuated search and rescue robot is presented as a system with potentially enhanced versatility relative to existing rescue robots. The usage of fluid powered actuation, combined with tele-operation of the robot via an operator workstation, enables the twelve degree of freedom robot to better manipulate large objects. A simulation is developed to enable ease of desig...
متن کاملDynamics, Stability Analysis and Control of a Mammal-Like Octopod Robot Driven by Different Central Pattern Generators
In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...
متن کامل