二駆動輪を持つ三輪移動ロボットの順動力学・逆動力学問題

原文アブストラクト

Mobile robots are widely used to perform various technological operations in several sectors of the national economy. These operations are related to transporting goods and equipment, performing work to determine the condition of a technical object or structure, their construction or repair, performing work to study a specific territory and compile relevant maps, etc. Recently, the list of operations that mobile robots can perform has expanded with police and military operations. Obviously, the safety of personnel working nearby and the time required to perform the relevant operations depend on such robots' speed and accuracy of movement. Therefore, an important task arises to study and form the trajectories of movement of mobile robots. Optimization, adaptation, robustness methods, and the theory of movement stability allow us to consider a mobile robot as a dynamic system with several inputs and outputs. The mathematical description of such a dynamic system can be used to analyze and synthesize the desired trajectories of movement by solving the corresponding direct and inverse dynamics problems. Therefore, creating a mathematical model of a mobile robot is a relevant task, the solution of which allows us to create and research robot control systems that ensure movement along predetermined desired trajectories.