Publication detail

Simulation modeling of mobile robot undercarriage equipped with omnidirectional wheels

KUBELA, T. POCHYLÝ, A.

Original Title

Simulation modeling of mobile robot undercarriage equipped with omnidirectional wheels

Type

conference paper

Language

English

Original Abstract

This contribution summarizes the results of work carried out during the proposal and simulation modeling of the mobile robot undercarriage equipped with omnidirectional wheels. In order to make an accurate design and appropriate dimensioning of driving units, there was carried out a simulation of dynamic properties of the undercarriage with omnidirectional wheels in Mathworks MATLAB 7. There is described a kinematical and a dynamical model of the whole robot platform; incorporating an idea of skew wheel angles modeling having a significant impact on the real robot trajectory. By using this functionality we can relatively overcome the problem of miss-alignments of the wheels during the assembly. Results of the simulation were summarized in form of a state space model of the whole robot platform. This work was done under the terms of the research plan "Simulative modeling of mechatronic systems" on the Institute of Production Machines, Systems and Robotics; FME, BUT.

Keywords

simulation, omnidirectional robot, state-space model

Authors

KUBELA, T.; POCHYLÝ, A.

RIV year

2007

Released

14. 5. 2007

Publisher

Institute of Thermomechanics, Academy of Sciences of the Czech Republic, Prague

ISBN

978-80-87012-06-2

Book

Book of Extended Abstracts - Engineering Mechanics 2007

Edition

1

Pages from

145

Pages to

146

Pages count

9

BibTex

@inproceedings{BUT22680,
  author="Tomáš {Kubela} and Aleš {Pochylý}",
  title="Simulation modeling of mobile robot undercarriage equipped with omnidirectional wheels",
  booktitle="Book of Extended Abstracts - Engineering Mechanics 2007",
  year="2007",
  series="1",
  pages="145--146",
  publisher="Institute of Thermomechanics, Academy of Sciences of the Czech Republic, Prague",
  isbn="978-80-87012-06-2"
}