@misc{Tarverdyan_Arshaluys_Justification,
 author={Tarverdyan, Arshaluys and Altunyan, Artur and Grigoryan, Albert},
 address={Երևան},
 howpublished={online},
 publisher={ՀԱԱՀ հիմնադրամ},
 abstract={The article discusses the issue related to the development of a multifunctional horticultural robot platform. The previous article in this series substantiated the necessity of designing a robot platform for integrated cultivation of inter-row, intertree (inter-vine), and near-trunk areas in vineyards and orchards, taking into account the specific soil and climatic conditions of the Republic of Armenia.A structural schematic of the robot platform has been developed, and a kinematic analysis has been conducted, the results of which served as the basis for programming the robot›s control system. Tests of the prototype of the developed robot platform demonstrated that, in order to create a fault-free, four-wheeled robot platform with independently controlled wheels, additional kinematic and dynamic studies are required. As a result of the conducted analyses, mathematical expressions were derived that enabled adjustments to be made in the robot platform’s control software with respect to its kinematic parameters. Specifically, the program for controlling the robot platform’s turning motion now accounts not only for the correlation between the wheel axes’ rotation angles around the vertical axis, but also for those between the angular velocities of the wheels rotating around their own axes. The dynamic studies produced accurate expressions for determining lateral forces, which will enable the development of the robot platform’s running and suspension systems that not only minimize soil damage but also ensure high operational reliability and durability.},
 title={Justification of the Stability Parameters for the Turning Motion of a Horticultural Robotic Platform},
 type={Միջազգային գիտական պարբերական},
 keywords={Agricultural Engineering},
}