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

Результат исследований: Материалы для книги/типы отчетовМатериалы для конференции

2 Цитирования (Scopus)

Аннотация

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.

Язык оригиналаАнглийский
Название основной публикации2018 19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018 - Proceedings
ИздательIEEE Computer Society
Страницы667-671
Число страниц5
ISBN (печатное издание)9781538650219
DOI
СостояниеОпубликовано - 13 авг 2018
Событие19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018 - Erlagol, Altai, Российская Федерация
Продолжительность: 29 июн 20183 июл 2018

Серия публикаций

НазваниеInternational Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM
Том2018-July
ISSN (печатное издание)2325-4173
ISSN (электронное издание)2325-419X

Конференция

Конференция19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018
СтранаРоссийская Федерация
ГородErlagol, Altai
Период29.6.183.7.18

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ASJC Scopus subject areas

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

Цитировать

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. В 2018 19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018 - Proceedings (стр. 667-671). [8435072] (International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM; Том 2018-July). IEEE Computer Society. https://doi.org/10.1109/EDM.2018.8435072