Mathematical Model of 3-P Wheel-Legged Mobile Robotic Platform

Abstract

In this paper the description of the development of three-point wheel-legged robotic platform and its movement was given. The motion control problem was targeted because of sophisticated walking technique with highly different phase timings. Movement algorithm, straight kinematics problem, inverse kinematics problem and dynamics problem solving are shown for the developed 3D-model. The complete algorithm of motion control was implemented for the model. New methods of mathematical modeling and their assistance were shown for design of new robotic device. The advantages of modern technologies of fast prototyping were described based on 3D printing.