EVALUATION OF THE RUNNING SURFACE DEFORMATIONS INFLUENCE ON THE VIBRATION BEHAVIOUR OF OFF-ROAD VEHICLES
Abstract: Road profile and the technical condition of the suspension affect a large measure of comfort, road safety and endurance. This paper contains the theoretical study results of the offroad vehicle vibration when running on a bumpy section of road. For this purpose has been developed mechanical model of tire-suspension -self supporting bodyshell system with five degrees of freedom. The bodyshell was approximated by a flat plate, suspension and tires were modelled by four mass-damper-spring system attached to the four corners of the plate; the tire mass together with a mass suspension is concentrated at a single point. Vertical vibration displacement, velocity and acceleration of the body were determined using Matlab. Key words: vehicle vibration, vehicle mechanical modelling, road deformation.
A robot cooperative manipulation system based on visual simultaneous localization and mapping is proposed in this paper. A single camera mounted on each mobile robot is used to observe unknown environments. SURF algorithm is employed to extract features of the environment and the target object. Three-dimensional positions of the features are estimated according to the visual information. The states of the robot and matched features are updated using extended Kalman filtering to reconstruct a consistent environment map based on which path planning and robot navigation are further accomplished. To carry out cooperative manipulation tasks, a compliance control approach is adopted to avoid dropping the object and ensure completing manipulation tasks successfully.