작업기구와 주행차륜 간 상호작용력을 고려한 모바일 플랫폼의 구동토크 해석

초록

The skid steering four-wheeled mobile platform has been widely used in various applications because of light-weight and simple structure to control the motion. However, understanding the motion of the platform is challenging due to the well-known nonholonomic constraint. Wide range of studies about trajectory tracking of the mobile platform have been focused on controlling motion with the plant uncertainty and not-modelled dynamics using various nonlinear control algorithms. Nevertheless,previous studies have not been considered that the additional forces by operating the manipulator such as rolling brush to clean the surface can be exerted to the contact point between wheels and the road. The external force is able to change the dynamics when the platform is about to be controlled the motion to follow the designated path. In this study, the dynamic model of the wheels is regarded as the tracked wheel and controller has been designed to perform stable trajectory tracking with considering the additional interaction by the rolling brush-robotic arm. Also, the simulation has been carried out to get an information of required torques of traction motors.