New approach for prediction of influence of vehicle dynamics parameters on instability of unmanned track vehicle using robotic approach

摘要

Achieving stability of unmanned, heavy tracked vehicles is challenging, especially under conditions of teleoperation because the remote operator cannot predict the dynamics of the vehicle. This paper proposes a new stability approach that can predict vehicle behavior in real-time and identify the dynamic input parameters that must be controlled to ensure stability and safety of the vehicle during teleoperation. The spatial kinematics and dynamics of tracked locomotion are computed using robotic approach in the form of decomposed serial manipulators and are then combined using suitable kinematic and dynamic constraints. A new stability study approach is presented for computing Multiple zero moment point (MZMP) for the robot since the robot consists of many serial manipulator systems. The stability margins obtained using the relationship between MZMP and combined Zero moment point (ZMP) provides additional information to identify the dynamic parameters that affect stability in the unmanned tracked vehicle during real-time control scenarios.