Research On The Initial Motion Of Mobile Robot

Robotic dynamic modeling is usually based on basic mechanical principle,which is used to study every component's position and derive the robotic system's dynamic equation.One of the common methods is Lagrange method,through which the dynamic character can be solved.However,there are large quantities of artificial calculations which computers cannot conduct.Consequently,an effective method should be found to simplify the solving procedure and save computational time,which is convenient for theoretical analysis and computational programing.This dissertation adopts a new computation method called initial motion method to solve the robotic dynamic model.On the basis of initial motion method mentioned by Whittaker,this paper derive the motion differential equation of holonomic and nonholonomic systems.Initial acceleration can be calculated by substitute the initial coordinate and velocity into the dynamic equation.Higher derivative will be obtained by constant derivation and substitution.In a similar fashion,more initial values of derivatives of velocity can be solved.Finally,use Taylor series expansion formulation to connect the obtained initial acceleration and higher order derivative of velocity to get the formulation of initial motion of the robot.The appearance of initial motion method and its application in robotic motion are useful to solve the problem where some motion differential equation cannot achieve the analytical solution.Due to the above fact,this method can effectively obtain the solution of the robotic system's instantaneous state,which is the basis of effective control of the system.Initial motion method is a brand new way of solving the holonomic and nonholonomic system,which can be applied in common holonomic mechanical systems,nonholonomic systems and controllable mechanical systems.This dissertation give corresponding numerical simulation of this method.During the simulation procedure,this method have simple principle and wide scope of application,which provides a new direction for later research of mecahical and robotic problem.