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JRM Vol.10 No.6 pp. 488-493
doi: 10.20965/jrm.1998.p0488
(1998)

Paper:

Dynamic Autonomous Car Mobile Analysis Simulating Mechanical Systems Analysis – First Dynamic Characteristics of Running Mouse –

Shigeki Toyama and Yasuo Murakuki

Faculty of Engineering, Tokyo A & T University, 2-24-16 Nakamachi, Koganei-shi, Tokyo 184-8588, Japan

Received:
May 21, 1998
Accepted:
June 4, 1998
Published:
December 20, 1998
Keywords:
Dynamic running automobile simulation, Modeling tire with slippage, Closoidal curve
Abstract

This paper dynamically simulates a small running 2DW2C automobile (mouse) and simulates path tracking control. Our purpose was to optimize mouse design using simulation results. We added tire force and DC motor force to A1 Motion, a simulator for analyzing mechanical systems developed in our laboratory, and improved the simulator simulating a running automobile. Experiments with a small 2DW2C automobile compared experimental and simulation results involving dynamic characteristics of an actual mouse. We got correct simulation results using this model and simulator. We studied its running performance, affected by its wheelbase and caster length, and evaluated path tracking control using closoidal curves.

Cite this article as:
Shigeki Toyama and Yasuo Murakuki, “Dynamic Autonomous Car Mobile Analysis Simulating Mechanical Systems Analysis – First Dynamic Characteristics of Running Mouse –,” J. Robot. Mechatron., Vol.10, No.6, pp. 488-493, 1998.
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