Abstract
Motion trajectories synthesis of mobile modular robots for complex spaces is based on two types of mathematical models: pattern motion trajectories or a system of high-dimensional differential equations. For the first option, a limited set of basic types of trajectories patterns is constructed, the combination of which allows to model complex robot movements with sufficient accuracy. In the second option, the significant computational resources are required for the numerical solution of the equations system, and only in the specific cases of trajectories it is possible to obtain analytical solutions. The present chapter proposes alternative mathematical and computer models using fast-count algorithms obtained as a result of a complex analysis of structural and kinematic features of a mobile modular robot. The resulting 2D models are the basis for solving more complex trajectory synthesis issues: constructing an arbitrary trajectory of a modular robot in a 3D working space; trajectories in a space with obstacles; and the construction of a dynamic model and parametric synthesis of the robots modules and joints structure ensuring the guaranteed passage along the required trajectory.
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The work was carried out within the framework of a state assignment No 122012400228-6 (FWGZ-2019-0089).
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Nasibullayev, I., Darintsev, O. (2023). Algorithm of Trajectories Synthesis for Modular Wheeled Inspection Robot. In: Ronzhin, A., Pshikhopov, V. (eds) Frontiers in Robotics and Electromechanics. Smart Innovation, Systems and Technologies, vol 329. Springer, Singapore. https://doi.org/10.1007/978-981-19-7685-8_7
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