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KUBELA, T. POCHYLÝ, A.
Originální název
Simulation modeling of mobile robot undercarriage equipped with omnidirectional wheels
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
angličtina
Originální abstrakt
This contribution summarizes the results of work carried out during the proposal and simulation modeling 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; incorporating an idea of skew wheel angles modeling having a significant impact on the real robot trajectory. 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. This work was done under the terms of the research plan "Simulative modeling of mechatronic systems" on the Institute of Production Machines, Systems and Robotics; FME, BUT.
Klíčová slova
simulation, omnidirectional robot, state-space model
Autoři
KUBELA, T.; POCHYLÝ, A.
Rok RIV
2007
Vydáno
14. 5. 2007
Nakladatel
Institute of Thermomechanics, Academy of Sciences of the Czech Republic, Prague
ISBN
978-80-87012-06-2
Kniha
Book of Extended Abstracts - Engineering Mechanics 2007
Edice
1
Strany od
145
Strany do
146
Strany počet
9
BibTex
@inproceedings{BUT22680, author="Tomáš {Kubela} and Aleš {Pochylý}", title="Simulation modeling of mobile robot undercarriage equipped with omnidirectional wheels", booktitle="Book of Extended Abstracts - Engineering Mechanics 2007", year="2007", series="1", pages="145--146", publisher="Institute of Thermomechanics, Academy of Sciences of the Czech Republic, Prague", isbn="978-80-87012-06-2" }