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2020 | OriginalPaper | Chapter

Posture Control of All Terrain Mobile Robot with Vibration Isolation System

Authors: Fangwu Ma, Liwei Ni, Lulu Wei, Jiahong Nie, Liang Wu, Weiwei Jia

Published in: Advances in Dynamics of Vehicles on Roads and Tracks

Publisher: Springer International Publishing

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Abstract

Robot will inevitably change its body posture (position and attitude) when crossing obstacles on extreme roads, at the same time, the road will have a huge impact on the body. In order to reduce road impact and body vibration, a wheel-legged all terrain mobile robot (WLATMR, the same below) with a new series slow active suspension structure was designed. The vibration isolation performance of the suspension was verified by the 11DOF dynamics model. In order to realize the closed-loop control of the posture, the kinematics and dynamics model of the robot considering the deformation of the suspension was built, and the co-simulation based on SIMULINK and ADAMS was carried out, the simulation results show that whether the suspension deformation is considered or not has little effect on the final control result, but the requirements on the working speed and working range of the actuator can be effectively reduced by considering the suspension deformation. This can effectively reduce the system steady-state time, improve the system response rate, and reduce the use cost in specific practical applications.
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Metadata
Title
Posture Control of All Terrain Mobile Robot with Vibration Isolation System
Authors
Fangwu Ma
Liwei Ni
Lulu Wei
Jiahong Nie
Liang Wu
Weiwei Jia
Copyright Year
2020
DOI
https://doi.org/10.1007/978-3-030-38077-9_205

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