Detail publikace

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

KUBELA, T. POCHYLÝ, A. SINGULE, V.

Originální název

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

Typ

článek v časopise - ostatní, Jost

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

multi-body simulation, robot design, omnidirectional Mecanum wheels

Autoři

KUBELA, T.; POCHYLÝ, A.; SINGULE, V.

Rok RIV

2010

Vydáno

30. 6. 2010

Nakladatel

Trans Tech Publications

Místo

Zurich, Switzerland

ISSN

1012-0394

Periodikum

Solid State Phenomena

Ročník

164

Číslo

07

Stát

Švýcarská konfederace

Strany od

387

Strany do

391

Strany počet

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"
}