Abstract
An unmanned military robot has been developed in order to save human life in dangerous military missions. To test various control algorithms in the virtual reality environment, a real-time dynamics model for the unmanned military robot is necessary. The unmanned military robot consists of six identical independent suspension systems, a manipulator arm to detect mine, a gun module, and stabilized vision system. Since the unmanned military robot is operated on rugged field, high frequency excitation forces are transmitted into tires. In order to handle high frequency oscillatory problem, in this paper, the unmanned military robot model based on Cartesian coordinates subsystem synthesis method is introduced to adapt an implicit integration method. To verify the proposed subsystem formulation, bump run simulations are carried out by comparing the responses from the subsystem model with those from ADAMS reference model. To inspect efficiency, CPU time of the model based on the proposed formulation has also been compared with the one based on the conventional formulation.
