Publication detail

Design of a mobile robot with omnidirectional wheels: simulation modeling of dynamics properties

KUBELA, T. POCHYLÝ, A.

Original Title

Design of a mobile robot with omnidirectional wheels: simulation modeling of dynamics properties

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. This work was done during the year 2006 under the terms of the research plan "Simulative modeling of mechatronic systems" on Institute of Production Machines, Systems and Robotics of FME, BUT. 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 model and dynamical model incorporating skew wheel angles influencing the real robot trajectory. The final part is then to determine the aims in the following year 2007 which are focused mainly on implementation and verification of the functionality of mobility system, sensor system and communication system as well as a proposal of higher level of control.

Keywords

Mobile Robot, Omnidirectional wheel, Omnidirectional-robot, state-space model

Authors

KUBELA, T.; POCHYLÝ, A.

RIV year

2007

Released

24. 5. 2007

Publisher

Faculty of Electrical Engineering, University of Ljubljana

Location

Ljubljana

ISBN

978-961-243-066-5

Book

Proceedings of the 16th International Workshop on Robotics in Alpe Adria Danube Region (RAAD 2007)

Edition

1

Pages from

34

Pages to

34

Pages count

5

BibTex

@inproceedings{BUT22683,
  author="Tomáš {Kubela} and Aleš {Pochylý}",
  title="Design of a mobile robot with omnidirectional wheels: simulation modeling of dynamics properties",
  booktitle="Proceedings of the 16th International Workshop on Robotics in Alpe Adria Danube Region (RAAD 2007)",
  year="2007",
  series="1",
  pages="34--34",
  publisher="Faculty of Electrical Engineering, University of Ljubljana",
  address="Ljubljana",
  isbn="978-961-243-066-5"
}