Modeling and computation of real-time applied torques and non-holonomic constraint forces/moment, and optimal design of wheels for an autonomous security robot tracking a moving target
| Autor: | Chu Anh My, Vu M. Duc, Nguyen A. Van, Stanislav S. Makhanov |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Optimal design
Numerical Analysis General Computer Science Computer science Applied Mathematics Computation Holonomic constraints 010103 numerical & computational mathematics 02 engineering and technology 01 natural sciences Theoretical Computer Science Computer Science::Robotics Constraint (information theory) Moment (mathematics) Control theory Modeling and Simulation Component (UML) 0202 electrical engineering electronic engineering information engineering Torque Robot 020201 artificial intelligence & image processing 0101 mathematics |
| Zdroj: | Mathematics and Computers in Simulation. 170:300-315 |
| ISSN: | 0378-4754 |
| Popis: | The paper presents a new mathematical model to analyze real time applied torques and non-holonomic constraint forces/moment of a security robot, comprised of a wheeled mobile platform and a manipulator for special security task applications. Based on the analysis the optimal selection of the wheels of the robot can be performed so that the slippage on the surface has been minimized. The proposed analysis constitutes a novel component in the modeling and design of the security robots. Numerical experiments illustrate the efficiency of the proposed method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Full Text from ScienceDirect