Motion control technology study on tracked robot with swing arms

Abstract

Tracked robot with swing arms has good capability of obstacle surmounting and ground adaptability, so it has been widely used. This paper analyses the kinematics characteristics and motion control solutions of a certain type of tracked robot with swing arm, and designs its control model. Meanwhile, a motion control system with a core of STM32F103 has been established, and the prototype robot experiments prove that the motion controller and the related motion control technology have high practicability and reliability.