Skip to main content
SpringerLink
Log in

The model and dynamic estimates for the controllability and comfortability of a multiwheel mobile robot motion

  • Control Sciences
  • Published:
Automation and Remote Control Aims and scope Submit manuscript

Abstract

This paper is devoted to the controllability and dynamics of a six-wheel mobile robot designed for high-speed motion along an uneven surface. The issues of its control synthesis are also studied. Instead of the classical interpretation, the controllability is comprehended in the physical sense, i.e., as the real feasibility of controlling a moving vehicle without losing its contact with the support and its stability, without hits etc. Ride comfort is treated as sufficient minimization of vertical accelerations. The authors analyze the dependence of ride comfort on different suspension characteristics. A mathematical model of six-wheel robot dynamics is proposed and analyzed using the software complex Universal Mechanism.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. URL: http://en.wikipedia.org/wiki/Colonization of the Moon, Cited December 10, 2012.

  2. URL: http://www.robosoft.fr, Cited December 10, 2012.

  3. URL: http://www.blackirobotics.com/, Cited December 10, 2012.

  4. URL: http://www.robotmobot.ru/, Cited December 10, 2012.

  5. Bolkhovitinov, I.S., et al., Space Exploration in the XXI Century, Zemlya i Vselennaya, 1991, no. 5.

    Google Scholar 

  6. Dinamika sistemy doroga-shina-avtomobil’-voditel’ (Dynamics of the Road-Tire-Vehicle-Driver System), Khachaturov, A.A., Ed., Moscow: Mashinostroenie, 1976.

    Google Scholar 

  7. Reimpell, J., Fahrwerktechnik: Lenkung, Würzburg: Vogel-Buchverlag, 1984. Translated under the title Shassi avtomobilya. Rulevoe upravlenie, Moscow: Mashinostroenie, 1987.

    Google Scholar 

  8. Reimpell, J., Fahrwerktechnik: Radaufhangungen, Würzburg: Vogel-Buchverlag, 1986. Translated under the title Shassi avtomobilya. Konstruktsiya podvesok, Moscow: Mashinostroenie, 1989.

    Google Scholar 

  9. Bakker, E., Pacejka, H.B., and Lidner, L., A New Tire Model with Application in Vehicle Dynamics Studies, Proc. 4th Int. Conf. Automotive Technologies, Monte Carlo, 1989, SAE paper 890087.

    Google Scholar 

  10. Pacejka, H.B. and Bakker, E., The Magic Formula Tire Model, Proc. 1st International Tire Colloquium, Delft, 1991, Vehicle System Dynamics 21 (Suppl.), pp. 1–18.

    Google Scholar 

  11. Novozhilov, I.V. and Pavlov, I.S., An Approximate Mathematical Model of a Wheeled Vehicle, Mech. Solids, 1997, vol. 31, no. 2, pp. 164–170.

    Google Scholar 

  12. Pavlovsky, V.E. and Shishkanov, D.V., Dynamics Analysis and Synthesis of the Control for Wheeled Machine with Excess Mobility, Preprint of Keldysh Institute of Applied Mathematics, Moscow, 2006, no. 12.

    Google Scholar 

  13. Aliseichik, A.P. and Pavlovsky, V.E., The Method of a Multiwheeled Mobile Robot Movement Dynamic Comfortability Analysis, Preprint of Keldysh Institute of Applied Mathematics, Moscow, 2010, no. 84.

    Google Scholar 

  14. Pogorelov, D.Yu., On Numerical Methods for Modeling Motion of Multibody Systems, Zh. Vychisl. Mat. Mat. Fiz., 1995, no. 4, pp. 501–506.

    Google Scholar 

  15. URL: http://www.universalmechanism.com/download/60/rus/gs_um_automotive.pdf. Cited December 10, 2012.

  16. URL: http://www.universalmechanism.com/download/60/rus/02_um_technical_manual.pdf. Cited December 10, 2012.

Download references

Author information

Authors and Affiliations

  1. Russian State University for the Humanities, Moscow, Russia

    A. P. Aliseichik

  2. Keldysh Institute of Applied Mathematics, Russian Academy of Sciences, Moscow, Russia

    V. E. Pavlovsky

Authors
  1. A. P. Aliseichik
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. V. E. Pavlovsky
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to A. P. Aliseichik.

Additional information

Original Russian Text © A.P. Aliseichik, V.E. Pavlovskii, 2013, published in Problemy Upravleniya, 2013, No. 1, pp. 70–78.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Aliseichik, A.P., Pavlovsky, V.E. The model and dynamic estimates for the controllability and comfortability of a multiwheel mobile robot motion. Autom Remote Control 76, 675–688 (2015). https://doi.org/10.1134/S0005117915040128

Download citation

  • Received:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1134/S0005117915040128

Keywords

Search

Navigation