Modelling and simulation of articulated mobile robots

Recent years have seen the rise of autonomous vehicles and mobile robots in new domains of application. A few of them have active front modules and passive rear modules, with the latter contributing to vehicle traction as needed. This is not the first time mobile robots have been studied, but much of the research has been dedicated to kinematic or fairly straightforward dynamic models. The purpose of this work is to develop first a kinematic model of articulated robots, then a dynamic model of mobile robots with quick dynamics or those that operate off-road, taking into consideration lateral and longitudinal slides in the wheels. A further dynamic model is then realized using the multi-body simulator MSC ADAMS. A comparative study is performed to evaluate the robot behaviour