Modeling tracks and controller for servosila engineer robot

Abstract

© Springer Nature Singapore Pte Ltd 2020. Modeling is an important part of solving any problem in robotics. Models let our opportunity to make mistakes that could break real robot and learn on these mistakes causing no damage to the robot. This paper presents a creation of model for crawler robot “Servosila Engineer.” In this model, tracks were replaced by big count of small wheels to get construction physically close to the track but with simple realization for simulation. To test efficiency of model was created three groups of controllers: for ground tracks wheels, flippers and flippers tracks wheels. This model takes into account mistakes made creating previous version and has opportunity to be used in teleoperation mode. To create controller, we tried some base types of controllers represented by Gazebo plugin. Created model and controller are integrated with Gazebo simulation system and ROS framework and will be used in our future researches.