Mathematical model of a system containing mobile robot interconnected mobile platforms

摘要

There exists an entire cluster of robotics tasks, where a system of interconnected mobile platforms appears as the controlled object. When creating a control system for such objects, it is required to take into consideration the influence of all structural elements on their dynamic properties. One of the solutions to this problem lies in introducing a universal mathematical model, which could form the basis for synthesizing a control system. Mathematical model of a system containing interconnected mobile platforms for a mobile robot of a certain class is proposed in this work, which takes into consideration dynamics of all moving structural elements. Solution to the problems set in the work is based on the Gauss's principle of least constraint. Results obtained are presented in the algorithmic form, and they determine the desired acceleration as a solution to simple linear algebraic equation. Simulation results using the Matlab Simulink software environment are presented. Based on the results of our work, a conclusion was formulated on the suitability of the obtained model for studying properties of the control object.