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

摘要

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.