Justification of the Software Kinematic Parameters of a Horticultural Autonomous Robotic Platform

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The article discusses the issues related to the development and creation of a multifunctional horticultural robotic platform. The necessity of developing a robotic platform best suited to the soil and climatic conditions of the Republic of Armenia is substantiated. A multifunctional robotic platform has been proposed and developed for the cultivation of vineyards and orchards. It is designed for inter-row and inter-vine (inter-trunk) soil cultivation, weed mowing and shredding, fertilization, pest and disease detection, assessment, and chemical control. The platform is equipped with four independently controlled wheels. Kinematic and force analysis of the running gear of the developed robotic platform has been conducted. As a result of these analyses, expressions have been derived that will serve as the foundation for programming the electroniccomputer control system of the platform’s running gear. These expressions will be used to control the torque movement and angular velocity of all the driving wheels, as well as the rotation of the wheel axes during turning. This approach enables the creation of a robotic platform›s running gear that ensures high mobility, adherence to the designated route, and prevents wheel slippage and skidding during turns. This aspect is particularly important for ensuring the reliability and longevity of the machine, as well as minimizing the damage caused to the cultivated soil by the wheels.