Dynamic simulation model for different type of wheeled mobile robotic drives on leveled surface

Abstract

Abstract Dimensions of wheel base, payload weight and geometry, and type of drive configuration are some of the major factors to be consider during prototyping of a mobile robotic drive. For analysing the effect of such factors, a dynamic simulation model valid for any drive configuration using simple, omni or mecanum wheels is discussed in this paper. Sub-systems to take into account the inertia, motor characteristics normal force, friction force and wheel slip are discussed. Preliminary simulation results for path anticipation, for a control algorithm, for a four wheels omni drive robot with uneven mass distribution and variation of normal force due to acceleration of the robot are also shown in this paper. The simulation model is developed in Simulink/MATLAB.