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Journal of Automation and Information Sciences
SJR: 0.238 SNIP: 0.464 CiteScore™: 0.27

ISSN Imprimer: 1064-2315
ISSN En ligne: 2163-9337

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Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v36.i2.60
pages 57-65

Dynamic Models of the Simplest Motions of the Mobile Robot Platform as Components of the Complex System for its Functioning Simulation

Nikolay P. Podchasov
International Research and Training Center of Information Technologies and Systems of National Academy of Sciences of Ukraine and Ministry of Education and Science of Ukraine, Kiev
Olga N. Sukhoruchkina
International Research and Training Center of Information Technologies and Systems of National Academy of Sciences of Ukraine and Ministry of Education and Science of Ukraine, Kiev

RÉSUMÉ

The problem of simulation of the dynamics of a mobile caterpillar robot is considered. For the simplest motions of its platform within the made hypothesis about a nature of interaction of caterpillar tracks with the supporting plane the motion equations, which are integrable in the closed form, have been obtained. It enables us to use the mathematical model while organizing the operator interface in the real-time operation mode, the interface being based upon virtual robot models and an environment of its functioning.


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