STUDY OF SMOOTH MOTION OF ROBOTIC WHEELED PLATFORMS USING LINEAR MODELS

The linear mathematical models of robotic wheeled platforms are considered to research their motions' smoothness. It is shown that not smooth motions in the wheeled platforms are due to the existed generalized forces depending on the velocity, including the viscous damping and drive motors with the finite power like the direct current electric motors for example. It is researched the derivative of the acceleration estimating the motions' smoothness of the wheeled platform, and it is considered influencing of the viscous damping and the finite power of the drive direct current electric motors. To have the reliable analytical results, only linear models of the wheeled platforms are considered. Taking into account of the influence of the damping forces is ТЕХНІЧНІ НАУКИ reduced to solving the simple second ordered differential equation, but researching about the influence of the finite power of drive motors is reduced to solving the system of ordinal differential equations including the second ordered equation of the motion and the first ordered equation for the electric current in the equivalent electric circuit of the drive direct current electric motor.