Simulation of the lateral dynamics of the GLT vehicle by means of ROBOTRAN: a model generator for robots

Abstract

This paper presents an extension of the field of applications of a software which has been developed in Louvain-la-Neuve over the last two years. This software, ROBOTRAN (Robot Translator) is briefly described. The guided light transit (GLT), a type of transport vehicle which is currently being developed by Constructions Ferroviaires et Metalliques S.A. (BN), is then introduced. This road vehicle, consisting of three articulated car-bodies, can be either driven manually or guided by arms whose extremities roll on a central rail and are kinematically connected to the steering systems. It is also shown how ROBOTRAN has been used to obtain a dynamical model for the prototype of the GLT in order to perform preliminary studies on its lateral behaviour. Finally, simulation and experimental results are presented.