DYNAMIC MODELING AND SIMULATION OF AN AUTONOMOUS MOBILE ROBOT FOR INDUSTRIAL APPLICATIONS USING MATLAB/SIMULINK

Mihai CRENGANIȘ, Radu BREAZ, Gabriel RACZ, Claudiu-Damian PETRU

Abstract


This paper presents the development and the simulations of a virtual dynamic model for a mobile robot that can be used in industrial applications. The dynamic model was developed using the MATLAB/Simulink platform and the Simscape library. The main goal is to build a “digital twin” that allows the analysis of the dynamic behavior of the robot under various operating conditions. The dynamic model takes into account friction forces, component masses, inertia and various motion configurations. The model includes a modular approach that integrates kinematic actuator blocks, transposed Jacobian matrices and detailed modeling of resistive forces. The analyzed configuration includes locomotion based on conventional wheels and differential traction but reaching the target points through different types of motion, to highlight the differences in maneuverability and energy efficiency.


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