CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Kinematics and Dynamics Modelling of All Terrain Articulated Tracked Vehicles
Hao Lin; Wei Lin; En Li; Zize Liang
2016-06
Conference Name2016 12th World Congress on Intelligent Control and Automation (WCICA)
Source PublicationProceedings of 12th World Congress on Intelligent Control and Automation
Conference Date2016-6
Conference PlaceGuilin, China
Abstract
This paper presents an extended kinematics and dynamics of the articulated tracked vehicles (ATV) used in many applications. The velocity of the front and the rear vehicle are firstly analysed and the kinematics of ATV is built, according to which the steer radius and the track velocity can be obtained. Then we analyse the force and moment acting on the ATV running on the firm ground and the soft ground, respectively. And a unified dynamics is established in a matrix form. To show the motion performance of the ATV, simulations are performed and the results are further presented.
KeywordKinematics Dynamics All Terrain Articulated Tracked Vehicles
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11799
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorHao Lin
Affiliation中国科学院自动化研究所
Recommended Citation
GB/T 7714
Hao Lin,Wei Lin,En Li,et al. Kinematics and Dynamics Modelling of All Terrain Articulated Tracked Vehicles[C],2016.
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