Posture Control of All Terrain Mobile Robot with Vibration Isolation System

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.