Publication detail

MODELLING AND CONTROL OF MULTI-WAY ROBOTIC WHEELFRAME

ŠEMBERA, J. ŠOLC, F.

Original Title

MODELLING AND CONTROL OF MULTI-WAY ROBOTIC WHEELFRAME

Type

journal article - other

Language

English

Original Abstract

Mobile robotics experiences a rapid development. Sensors, control systems and decision properties of robots get improved. Character of a robot is also influenced by the type of applied wheelframe. This article describes the prototype and the control concept of a special multi-way robotic wheelframe. The concept of this wheelframe is based on rotary driving devices. The axis of the driving device rotation is located out of the touch point between the wheel and the floor. Motion and rotation of particular driving devices must be synchronized. In the case of convenient control it is possible to perform a large set of motions almost without skidding and slipping.

Keywords

wheelframe, omnidirectional, multi-way, control, model

Authors

ŠEMBERA, J.; ŠOLC, F.

RIV year

2009

Released

29. 5. 2009

Publisher

Technical University Sofia

Location

Plovdiv

ISBN

1310-8271

Periodical

Journal of the Technical University at Plovdiv. Fundamental Sciences and Applications

Year of study

14

Number

1

State

Republic of Bulgaria

Pages from

105

Pages to

110

Pages count

6

BibTex

@article{BUT48805,
  author="Jaroslav {Šembera} and František {Šolc}",
  title="MODELLING AND CONTROL OF MULTI-WAY ROBOTIC WHEELFRAME",
  journal="Journal of the Technical University at Plovdiv. Fundamental Sciences and Applications",
  year="2009",
  volume="14",
  number="1",
  pages="105--110",
  issn="1310-8271"
}