Analysis of castor wheels rotation of mobile differential drive robot
https://doi.org/10.21122/2309-4923-2023-4-30-36
Abstract
Mathematical models for controlling centrally oriented and non-centrally oriented rotary wheels of a mobile robot are considered. Based on the analysis of the kinematics of the mobile robot, the dependences of the rotation angle of the rear and front free wheel on the angular velocities of the right and left differentially driven drive wheel were obtained. For a specific mobile robot with certain kinematic parameters, graphs of the dependences of the angle of rotation of the free wheels on the radius of rotation of each wheel and graphs of the dependences of the angle of rotation of the free wheels on the angular velocities of the driving wheels were constructed. The results obtained made it possible to establish a pattern between the angle of rotation of the castor wheels and the design characteristics of the robot. A certain range of angular velocities of the driving wheels in accordance with the limiting values of the caster wheel rotation angles makes it possible to take into account the obtained mathematical models to increase the stability of the movement of the mobile robot.
About the Authors
A. A. Radkevich
Belarusian National Technical University
Belarus
Belarus
Artsiom A. Radkevich is a master student of the Electric drive and automation of industrial installations and technological complexes department
Minsk
Shixin Yang
Belarusian National Technical University
Belarus
Belarus
Yang Shixin is a PhD student of the Electric drive and automation of industrial installations and technological complexes department
Minsk
U. A. Zaretski
Belarusian National Technical University
Belarus
Belarus
Uladzimir A. Zaretski is a PhD student of the Electric drive and automation of industrial installations and technological complexes department
Minsk
A. A. Velchenko
Belarusian National Technical University
Belarus
Belarus
Anna A. Velchenko is a PhD, associate professor, associate professor the Electric drive and automation of industrial installations and technological complexes department
Minsk
S. A. Pauliukavets
Belarusian National Technical University
Belarus
Belarus
Siarhei A. Pauliukavets is a PhD, associate professor, head of the Electric drive and automation of industrial installations and technological complexes department
Minsk
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Review
For citations:
Radkevich A.A., Yang Sh., Zaretski U.A., Velchenko A.A., Pauliukavets S.A. Analysis of castor wheels rotation of mobile differential drive robot. «System analysis and applied information science». 2023;(4):30-36. (In Russ.) https://doi.org/10.21122/2309-4923-2023-4-30-36
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