Publication detail

MODEL OF A SKID STEERED ROBOT

ŠEMBERA, J. ŠOLC, F.

Original Title

MODEL OF A SKID STEERED ROBOT

Type

journal article - other

Language

English

Original Abstract

The paper introduces mathematical models of a skid steered mobile platform for robotics. The platform consists of a rectangular steel construction with four wheels. Two banks of two drive wheels on each side are linked to two DC electrical motors via chain on sprocket drive and gearing. The two drive assemblies for the left and right banks are identical but they operate independently to steer the vehicle by skid. Wheels of the vehicle consist of rims and shallow tread pneumatic tyres. Dynamic and quasi-kinematic models are introduced.

Keywords

robot, skid steering, modelling, dynamic model, kinematic model

Authors

ŠEMBERA, J.; ŠOLC, F.

RIV year

2008

Released

20. 3. 2008

Publisher

WSEAS Press

Location

Cambridge UK

ISBN

1790-5117

Periodical

WSEAS Applied Informatics & Communications

Year of study

7

Number

1

State

Hellenic Republic

Pages from

61

Pages to

65

Pages count

5

BibTex

@article{BUT47815,
  author="Jaroslav {Šembera} and František {Šolc}",
  title="MODEL OF A SKID STEERED ROBOT",
  journal="WSEAS Applied Informatics & Communications",
  year="2008",
  volume="7",
  number="1",
  pages="61--65",
  issn="1790-5117"
}