Publication detail

Simulation modeling and control of a mobile robot with omnidirectional wheels

KUBELA, T. POCHYLÝ, A.

Original Title

Simulation modeling and control of a mobile robot with omnidirectional wheels

Type

conference paper

Language

English

Original Abstract

This contribution summarizes the results of work carried out during the proposal and simulation modelling 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. 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.

Keywords

mobile robot, omnidirectional wheel, simulation, state-space model

Authors

KUBELA, T.; POCHYLÝ, A.

RIV year

2007

Released

19. 9. 2007

Publisher

Springer Berlin, Heidelberg

ISBN

978-3-540-73955-5

Book

Recent Advances in Mechatronics

Edition

1

Edition number

1

Pages from

22

Pages to

26

Pages count

5

BibTex

@inproceedings{BUT30266,
  author="Tomáš {Kubela} and Aleš {Pochylý}",
  title="Simulation modeling and control of a mobile robot with omnidirectional wheels",
  booktitle="Recent Advances in Mechatronics",
  year="2007",
  series="1",
  number="1",
  pages="22--26",
  publisher="Springer Berlin, Heidelberg",
  isbn="978-3-540-73955-5"
}