Kirill Yefremov

This paper presents experimental investigations of the control algorithm of a highly maneuverable mobile manipulation robot. The kinematics of a mobile manipulation robot, the algorithm of trajectory planning of the mobile robot to the point of object gripping are considered. By realization of the algorithm, the following tasks are solved: solution of the inverse positional task for the mobile manipulation robot; motion planning of the mobile manipulator taking into account the minimization of energy and time consumption per movement. The result of the algorithm is a movement to the point of gripping of the manipulation object; grasping and loading of the object. Experimental investigations of the developed algorithms are given.

In this paper we examine the controlled motion of a three-link wheeled mobile robot on a horizontal plane. The motion of the system is induced by periodic oscillations of the outermost links relative to the central link in the horizontal plane. The dynamics of the robot is analyzed using two theoretical models. The first is a model of nonholonomic rolling which assumes motion without slipping at the points of contact. The second is a hybrid dynamical model which takes into account the possibility of alternation between nonholonomic rolling and motion with slipping along the axis of a wheel pair. An experimental investigation of the dynamics of the developed prototype with different controls is carried out. A comparative analysis is made of the data obtained in the course of a full-scale experiment and the results of numerical simulation based on both models considered. This comparative analysis is used to identify the limits of applicability of the nonholonomic model. It is shown that within these limits the nonholonomic model describes the real motion with good accuracy.