Detail publikace

Simulation modeling of mobile robot undercarriage equipped with omnidirectional wheels

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"
}