My, C.A. and Makhanov, S.S. and Van, N.A. and Duc, V.M. (2020) Modeling and computation of real-time applied torques and non-holonomic constraint forces/moment, and optimal design of wheels for an autonomous security robot tracking a moving target. Mathematics and Computers in Simulation, 170. pp. 300-315. ISSN 3784754
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The paper presents a new mathematical model to analyze real time applied torques and non-holonomic constraint forces/moment of a security robot, comprised of a wheeled mobile platform and a manipulator for special security task applications. Based on the analysis the optimal selection of the wheels of the robot can be performed so that the slippage on the surface has been minimized. The proposed analysis constitutes a novel component in the modeling and design of the security robots. Numerical experiments illustrate the efficiency of the proposed method. © 2019 International Association for Mathematics and Computers in Simulation (IMACS)
| Item Type: | Article |
|---|---|
| Divisions: | Institutes > Institute of Simulation Technology Faculties > Faculty of Aerospace Engineering Faculties > Faculty of Vehicle and Energy Engineering |
| Identification Number: | 10.1016/j.matcom.2019.11.002 |
| Uncontrolled Keywords: | Manipulators; Numerical methods; Robots; Target tracking; Wheels; Autonomous security; Modeling and computation; New mathematical model; Non holonomic constraint; Novel component; Numerical experiments; Optimal selection; Real time; Machine design |
| Additional Information: | Language of original document: English. |
| URI: | http://eprints.lqdtu.edu.vn/id/eprint/9037 |
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