Motion Simulation of Wheeled Oo-road Robots
نویسنده
چکیده
This paper deals with navigation problem of wheeled oo-road robots while taking into account the mechanical behavior of the locomotion system and its interaction with the environment. We developed a simulation model of quasi-static motion for a class of wheeled and suspended vehicles. Command velocities are computed by tracking the vehicle control point along the prescribed path. To evaluate the vehicle behavior (stability, controllability of displacements) over a path, static model is solved. Static indeterminacy due to redundant actuation is raised on by an optimization procedure. Simulation is interfaced with a CAD robotic system.
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