SIMULINK BASED DYNAMIC MODEL FOR MECANUM DRIVE AUTONOMOUS MOBILE PLATFORMS CONSIDERING FRICTION FORCES

Mihai CRENGANIȘ, Claudia Emilia GÎRJOB, Dan Mihai RUSU, Alexandru BÂRSAN

Abstract


This paper provides a detailed description about how to develop and validate a model concerning the dynamics of a mobile robot using Matlab and Simulink. The fundamental component in the development of the model is the import of a 3D CAD model from SolidWorks into Simulink Simscape. The virtual model to simulate the entire dynamics of the mobile robot is based on a Mecanum wheels locomotion principle. The study encompasses an extensive review of existing dynamic models, considering frictional forces, as well as the design and kinematic modeling of the actuation systems for omnidirectional drive configuration. Using SolidWorks, a 3D virtual representation of the robots was developed and integrated into Simulink-Simscape to develop the dynamic model. Mathematical model for robot kinematics and controls was rigorously formulated within Simulink, employing the Jacobian matrix and its transpose to decompose resistive forces at the motor shafts into inertial and frictional components, enabling accurate electrical current monitoring during robot motion. The paper also introduces a characteristic block diagram for assessing DC motor electrical current consumption, crucial for analyzing the robots' operational efficiency. An important aspect of this research lies in the experimental validation of the dynamic model through real-time measurements of electrical current on a mobile platform, affirming its accuracy and practicality. This combined exploration of dynamic modeling and resistive forces analysis represents a significant contribution to the field of autonomous mobile robotics, promising substantial advancements in energy-efficient operations and driving capabilities.

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References


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