The basic factors on development of the drive control subsystem for the special purpose mobile robot named geokhod

Aleksandr V. Grigoryev, Irina Yu Semykina, Aleksandr N. Ermakov, Ivan V. Chicherin, Vladimir V. Aksenov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

The paper is devoted to showing up the control aspects of the geokhod that is the new type of tunneling machine. Geokhod may be classified as a special purpose mobile robot. The authors set the following targets: To analyze the main operating modes of the machine; to enunciate the applicable approach to form the dynamic mathematical models of mechanical and hydraulic subsystems of the geokhod in these operating modes. In the paper, the kinematic schemes of the geokhod main systems are depicted following which the interaction model of the geokhod and geo-environment is briefly described and thereafter the modeling features of the geokhod dynamics from the control view are listed. The computational kinematic scheme of the geokhod is composed and it is discussed how this scheme can be used for compiling the dynamic mathematical model in the different operating modes. In the final part, the weaknesses analysis of the proposed approach are presented and the directions for further researches are formulated.

Original languageEnglish
Title of host publication2018 19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018 - Proceedings
PublisherIEEE Computer Society
Pages667-671
Number of pages5
ISBN (Print)9781538650219
DOIs
Publication statusPublished - 13 Aug 2018
Event19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018 - Erlagol, Altai, Russian Federation
Duration: 29 Jun 20183 Jul 2018

Publication series

NameInternational Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM
Volume2018-July
ISSN (Print)2325-4173
ISSN (Electronic)2325-419X

Conference

Conference19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018
CountryRussian Federation
CityErlagol, Altai
Period29.6.183.7.18

    Fingerprint

Keywords

  • Drive control
  • Dynamic mathematical model
  • Geo-environment
  • Geokhod
  • Kinematic scheme

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Atomic and Molecular Physics, and Optics

Cite this

Grigoryev, A. V., Semykina, I. Y., Ermakov, A. N., Chicherin, I. V., & Aksenov, V. V. (2018). The basic factors on development of the drive control subsystem for the special purpose mobile robot named geokhod. In 2018 19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018 - Proceedings (pp. 667-671). [8435072] (International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM; Vol. 2018-July). IEEE Computer Society. https://doi.org/10.1109/EDM.2018.8435072