The model and dynamic estimates for the controllability and comfortability of a multiwheel mobile robot motion

Abstract

This paper is devoted to the controllability and dynamics of a six-wheel mobile robot designed for high-speed motion along an uneven surface. The issues of its control synthesis are also studied. Instead of the classical interpretation, the controllability is comprehended in the physical sense, i.e., as the real feasibility of controlling a moving vehicle without losing its contact with the support and its stability, without hits etc. Ride comfort is treated as sufficient minimization of vertical accelerations. The authors analyze the dependence of ride comfort on different suspension characteristics. A mathematical model of six-wheel robot dynamics is proposed and analyzed using the software complex Universal Mechanism.