Detail publikace

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

Originální název

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

Anglický název

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

Jazyk

en

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.

Anglický 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.

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",
  annote="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.",
  address="Trans Tech Publications",
  chapter="49838",
  institution="Trans Tech Publications",
  journal="Solid State Phenomena",
  number="07",
  volume="164",
  year="2010",
  month="june",
  pages="387--391",
  publisher="Trans Tech Publications",
  type="journal article - other"
}