Abstract
The goal of the research is a mathematical modeling of the motion process of a wheeled robot along a given trajectory with the turn drill. Matlab software with the Simulink option package was used as the environment for artificial modeling of the motion process. In order to control the movement of a wheeled robot using the computational and graphic methods, a kinematic and dynamic model of a wheeled robot was determined. The robot has two independent drive wheels located on the same axis and operating on electric traction. Based on the obtained mathematical correlations, a nomenclature of artificial components was formed in the Matlab (Simulink) environment, which made possible to simulate the process of controlling the robot’s electric drive. A voltage that was twice as different was applied to the electric drive of independent wheels located on the same axis as a reliability check of the mathematical model in the Matlab (Simulink) artificial medium. The artificially simulated motion process of a wheeled robot involved studying the motion process using the “PLOT (X; Y)” function. At the moment of the robot’s movement, the trajectory of the00point, which is the center of robot’s mass, for a set unit of time, was obtained. This allowed confirming the reliability of the developed mathematical model for the control system of a multifunctional robot for animal units.
Highlights
The process of keeping cattle in animal units involves the implementation of many cyclical, labor-intensive operations, while forming various indicators of technological production efficiency, determined by labor productivity
As an alternative solution to oft-stated problem, the designing of a robotic platform is proposed, which will increase the productivity of labor and the efficiency of performing heavy difficult operations for the maintenance of cattle in animal units
They can be used for distribution of feed, dosing of concentrated additives that enhance the taste of the main feed, cleaning of technological surfaces, partial manure removal
Summary
The process of keeping cattle in animal units involves the implementation of many cyclical, labor-intensive operations, while forming various indicators of technological production efficiency, determined by labor productivity. This becomes a determinant factor for designing the technological equipment, so most manufacturers strive to automate or robotize the various operations performed by humans. The attached pieces for autonomous servicing of the manger can be used as off-chip devices for a robotic platform They can be used for distribution of feed, dosing of concentrated additives that enhance the taste of the main feed, cleaning of technological surfaces, partial manure removal
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