Open AccessON THE ACCURACY OF POSITIONING OF MOBILE ROBOT'S WALKING PROPULSION DEVICES
Author(s) -
L. D. Smirnaya,
И. П. Вершинина
Publication year - 2021
Publication title -
izvestiâ volgogradskogo gosudarstvennogo tehničeskogo universiteta
Language(s) - English
Resource type - Journals
ISSN - 1990-5297
DOI - 10.35211/1990-5297-2021-9-256-69-73
Subject(s) - kinematics , mechanism (biology) , propulsion , computer science , position (finance) , control theory (sociology) , point (geometry) , robot , kinematic chain , simulation , control engineering , engineering , artificial intelligence , aerospace engineering , mathematics , physics , classical mechanics , geometry , control (management) , finance , quantum mechanics , economics
The problems of the influence of the choice of the kinematic scheme of the walking mechanism on the positioning accuracy of its foot with the same small positioning errors are considered. The relationships between the laws of changing the coordinates of the foot of the walking mechanism as a material point and the change in the position of the output elements of the motors of the drives of the orthogonal mover and the mover with a parallel chain of drives are established.