Dynamics analysis and synthesis of the control for wheeled machine with excess mobility

This paper is deals with the dynamics analysis of the modular wheeled machines with high adaptability, with synthesis of the control by them, with analysis of quality of the control system. There are dynamic equations of the wheeled robots motion with the different wheels-schemes and geometry of the body obtained. The simulation and analysis of complicated motions for the four-wheeled robot is shown as well. There are made multisupporting wheeled-walking robots modeling motion along surface with obstacles with using program system “Universal mechanism”.