Publication detail

Matematické modely kolových robotů

ŠOLC, F.

Original Title

Matematické modely kolových robotů

English Title

Mathematical models of wheeled robots

Type

journal article - other

Language

Czech

Original Abstract

Článek popisuje systematickou metodu konstrukce matematických modelů jednotělových kolových robotů s neholonomním omezením.

English abstract

The article describes systematical method of construction of mathematical models describing motion of one body wheeled robots. The method is based on kinematic equations of nonholonomic constraints of individual wheels and on fundamental theorems of linear algebra and linear mapping. Firstly a simple generic model is constructed from equations of kinematic constraints, then a complete model with real control inputs is obtained. Simpler generic model can be used for design of a control algorithm.

Keywords

kolové roboty, neholonomní omezení, matematický model

Key words in English

wheeled robots, nonholonomic constraints, mathematical models

Authors

ŠOLC, F.

RIV year

2009

Released

15. 10. 2009

Publisher

FS TU Košice

Location

Košice

ISBN

1335-2393

Periodical

Acta Mechanica Slovaca

Year of study

13

Number

2-A/2009

State

Slovak Republic

Pages from

235

Pages to

240

Pages count

12

BibTex

@article{BUT47437,
  author="František {Šolc}",
  title="Matematické modely kolových robotů",
  journal="Acta Mechanica Slovaca",
  year="2009",
  volume="13",
  number="2-A/2009",
  pages="235--240",
  issn="1335-2393"
}