Publication detail

Advanced tools for multi-body simulation and design of control structures applied in robotic system development

KUBELA, T. POCHYLÝ, A. SINGULE, V.

Original Title

Advanced tools for multi-body simulation and design of control structures applied in robotic system development

Type

journal article - other

Language

English

Original Abstract

The paper deals with a design of a 3-wheeled mobile robot based on Mecanum omnidirectional wheels. The 3D CAD geometry model was initially prepared with Pro-Engineer. The key issue with respect to design methodology reported in this research work is related to the application of co-simulation strategy. System ADAMS, intended for multi-body simulations, was used to evaluate dynamic behavior of the robot platform. MATLAB/Simulink was applied for testing the performance and control of structures. The co-simulation strategy consists mainly in application of ADAMS and MATLAB simultaneously, in one loop, utilizing its respective advantages.

Keywords

multi-body simulation, robot design, omnidirectional Mecanum wheels

Authors

KUBELA, T.; POCHYLÝ, A.; SINGULE, V.

RIV year

2010

Released

30. 6. 2010

Publisher

Trans Tech Publications

Location

Zurich, Switzerland

ISBN

1012-0394

Periodical

Solid State Phenomena

Year of study

164

Number

07

State

Swiss Confederation

Pages from

387

Pages to

391

Pages count

5

URL

http://www.scientific.net/SSP.164.387

BibTex

@article{BUT49838,
  author="Tomáš {Kubela} and Aleš {Pochylý} and Vladislav {Singule}",
  title="Advanced tools for multi-body simulation and design of control structures applied in robotic system development",
  journal="Solid State Phenomena",
  year="2010",
  volume="164",
  number="07",
  pages="387--391",
  issn="1012-0394",
  url="http://www.scientific.net/SSP.164.387"
}