Prospects for the development of mobile robotic systems with kinematic related propulsors

Яцун, С. Ф.; Chzho, P. V.; Рукавицын, А. Н.

doi:10.18411/lj-06-2018-46

Тенденции Развития Науки И Образования 2018

DOI: 10.18411/lj-06-2018-46

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Prospects for the development of mobile robotic systems with kinematic related propulsors

С. Ф. Яцун¹,

P. V. Chzho²,

А. Н. Рукавицын³

Abstract: Рисунок 1. Временная диаграмма процесса нанесения покрытия По сравнению с монолитным анодом, площадь которого суммарно равняется площади 9-ти анодных секций, для данного примера критерий неравномерности (1) был снижен на 73% со значения 1,396218 до 0,372603. *** 1. Соловьев Д.С., Литовка Ю.В. К вопросам математического моделирования гальванических процессов с циклическим включением анодных секций // Вестник СГТУ. 2012. №1 (64). С. 181-187.

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2024

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Development of a Mobile Wheeled Robot for Parcel Delivery

Politov,

Rukavitsyn,

Lai

2024

Transport Engineering

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The study objective is to develop approaches to the design of a mobile wheeled robot for transporting small-sized goods, operating autonomously without the participation of a human operator. At the same time, the main task is to develop a mathematical model of a wheeled robot that takes into account the moments of rolling friction and sliding of the driving wheels on the support surface, and which allows to study the starting operation modes of the electromechanical drive of a mobile device. The increase in the speed of the mobile robot is achieved by minimizing the acceleration time to the required speed values through the use of a 2-stage algorithm for changing the control voltage. The development of a mathematical model of a robotic system is carried out on the basis of methods of analytical mechanics and the theory of automatic control. Using the Laplace transforms, an analytical solution of differential equations describing the dynamics of a mobile robot is obtained. Numerical solution of the obtained equations is carried out in Mathcad interface. The novelty of the work consists in obtaining time dependencies for the speed and current in the circuit of the electric motor of the mobile robot wheeled drive and finding out the basic patterns of movement at its launch. The results of the conducted research can be used in the development of motion control systems for mobile robots with feedback, ensuring the stabilization of a set value of the movement speed in steady-state modes. Conclusions: a mathematical model of a mobile robotic system is developed, the starting modes of its operation and the method of combined motion control are studied, the speed of a mobile wheeled device is increased when moving along a given trajectory.

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Development of a Mobile Wheeled Robot for Parcel Delivery

Politov,

Rukavitsyn,

Lai

2024

Transport Engineering

View full text Add to dashboard Cite

show abstract

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Prospects for the development of mobile robotic systems with kinematic related propulsors

Cited by 1 publication

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Development of a Mobile Wheeled Robot for Parcel Delivery

Development of a Mobile Wheeled Robot for Parcel Delivery

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