Simulation of four-wheeled robot chassis taking into account contact interaction

Abstract

One of the tasks of the development and research of moving objects is the modeling of the controlled object. To solve the control synthesis problem, the development of models of mobile ground-based robots is a well-developed area. However, there are situations when the movement of the developed model does not correspond to the experimental data due to the fact that complex processes of contact interaction between the robot chassis and the surface of the ground or the object along which the robot moves are not taken into account. Because of this, errors may occur in the control loops. The paper proposes a robot movement simulation based on a model-based design method. The chassis has a four-wheeled architecture. All wheels interact with the ground through contact interaction and create forces and torques. The obtained results allow us to develop more complete motion models of ground-based robots.