Modeling the motion processes of a multifunctional robot for animal units

• Published in: E3S web of conferences 2020-01, Vol.164, p.6023
• Main Authors: Nikitin, Evgenii, Pavkin, Dmitrii
• Format: Article
• Language: English
• ISSN: 2267-1242; 2267-1242
• DOI: 10.1051/e3sconf/202016406023

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 the 0 0 point, 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.