Motion Control of a Chain of Wheeled Robots

This article is devoted to the kinematic and dynamic analysis of the movements of a system of two robots with a differential drive connected by a cylindrical joint. The objectives of the article are the construction of algebraic differential equations describing the dynamics of the system, as well as the development of motion control of this system. The equations of motion of the considered mechanical system in the presence of nonholonomic connections is presented. The relations limiting the initial conditions on the coordinates of the centers of each of the robots, due to geometric connections, are obtained. Based on the results of motion modeling, the reliability of the kinematic model and the operability of the proposed control are shown. Numerical simulation of the controlled mechanics of the system was carried out in the SimInTech dynamic modeling environment.