Co-simulation of a Tracked Mobile Robot Based on RecurDyn and Simulink

Abstract

In this paper, based on the multi-body dynamics simulation software, RecurDyn, virtual prototype model of a tracked mobile robot has been built, and with the RecurDyn interface connected to the Simulink control software, it was realized to build a control co-simulation platform of the tracked mobile robot. Through setting control conditions in Simulink, it was achieved to make the virtual prototype model tracking specific longitudinal motion velocity and turning velocity. The simulation results verified the accuracy and effectiveness of the co-simulation model, and the method is of great benefit to study motion tracked mobile robot control algorithm in the next step.