Autor(s):

Stoyan Lilov, Institute of Robotics, Bulgarian Academy of Sciences, lsv@abv.bg

Vanya Markova, Institute of Robotics, Bulgarian Academy of Sciences, markovavanya@yahoo.com

Venceslav Shopov, Institute of Robotics, Bulgarian Academy of Sciences, vkshopov@yahoo.com

Nikolay Popov, Institute of Robotics, Bulgarian Academy of Sciences, njpopov62@gmail.com

https://doi.org/10.55630/STEM.2022.0415

Abstract:

    This article discusses the stability of wheeled mobile robots on roll and pitch, depending on their geometric proportions, as well as the forces acting on them. A dynamic model of this type of robot is built, based on the principles of kinetostatic. The influence of the parameters of the model on the roll and pitch stability has been studied. Coefficients of stability have been introduced. The dynamic model is built in such a way that it is possible to determine intervals with values of the parameters at which roll and pitch stability is guaranteed.

Keywords:

Dynamic Model of Mobile Robot; Kinetostatic; Coefficients of Stability; Simulation and Modeling; Roll and Pitch Stability;

Cite (APA style):

Lilov, S., Markova, V., Shopov, V., Popov, N. (2022). Modeling the Stability of Wheeled Mobile Robots by Roll and Pich, Science Series "Innovative STEM Education", volume 04, ISSN: 2683-1333, Institute of Mathematics and Informatics – Bulgarian Academy of Sciences, pp. 121-129, DOI: https://doi.org/10.55630/STEM.2022.0415

PDF file address:

http://www.math.bas.bg/vt/stemedu/book-4/STEMedu-2022-xv.pdf