Modeling the dynamics of an autonomous mobile robot with a manipulator

Abstract

The features of the dynamics of an autonomous mobile robot of variable configuration with a relative motion of the manipulator are considered. Based on the results of mathematical modeling the dynamics of the robot, taking into account the off-diagonality of the tensor of inertia, it is possible to estimate the cross-connection of the control channels and determine the presence of angular moments in the planes perpendicular to the direction of movement of the autonomous mobile robot. Figs.: 3. Table: 3. Bibliography: 11 titles.Keywords: autonomous mobile robot; manipulator; dynamics; mathematical modeling.