Detail publikace

Simulation modeling and control of a mobile robot with omnidirectional wheels

KUBELA, T. POCHYLÝ, A.

Originální název

Simulation modeling and control of a mobile robot 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 modelling 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. 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.

Klíčová slova

mobile robot, omnidirectional wheel, simulation, state-space model

Autoři

KUBELA, T.; POCHYLÝ, A.

Rok RIV

2007

Vydáno

19. 9. 2007

Nakladatel

Springer Berlin, Heidelberg

ISBN

978-3-540-73955-5

Kniha

Recent Advances in Mechatronics

Edice

1

Číslo edice

1

Strany od

22

Strany do

26

Strany počet

5

BibTex

@inproceedings{BUT30266,
  author="Tomáš {Kubela} and Aleš {Pochylý}",
  title="Simulation modeling and control of a mobile robot with omnidirectional wheels",
  booktitle="Recent Advances in Mechatronics",
  year="2007",
  series="1",
  number="1",
  pages="22--26",
  publisher="Springer Berlin, Heidelberg",
  isbn="978-3-540-73955-5"
}