Dynamic Model of Mobile Robot Kinetostatic Coefficients of Stability Simulation and Modeling Roll and Pitch Stability
Issue Date:
10-Jun-2022
Publisher:
Institute of Mathematics and Informatics – Bulgarian Academy of Sciences
Citation:
Lilov, S., Markova, V., Shopov, V., Popov, N. (2022). Modeling the Stability of Wheeled Mobile Robots by Roll and Pich, Science Series "Innovative STEM Education", volume 04, ISSN: 2683-1333, Institute of Mathematics and Informatics – Bulgarian Academy of Sciences, 121-129. DOI: https://doi.org/10.55630/STEM.2022.0415
Series/Report no.:
Science Series "Innovative STEM Education", volume 04;15
Abstract:
This article discusses the stability of wheeled mobile robots on roll and pitch, depending on their geometric proportions, as well as the forces acting on them. A dynamic model of this type of robot is built, based on the principles of kinetostatic. The influence of the parameters of the model on the roll and pitch stability has been studied. Coefficients of stability have been introduced. The dynamic model is built in such a way that it is possible to determine intervals with values of the parameters at which roll and pitch stability is guaranteed.
