Detail publikace

Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage

Originální název

Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage

Anglický název

Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage

Jazyk

en

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. This work was done during the year 2006 under the terms of the research plan "Simulative modeling of mechatronic systems" on Institute of Production Machines, Systems and Robotics of FME, BUT. 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 model and dynamical model incorporating skew wheel angles influencing the real robot trajectory. The final part is then to determine the aims in the following year 2007 which are focused mainly on implementation and verification of the functionality of mobility system, sensor system and communication system as well as a proposal of higher level of control.

Anglický 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. This work was done during the year 2006 under the terms of the research plan "Simulative modeling of mechatronic systems" on Institute of Production Machines, Systems and Robotics of FME, BUT. 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 model and dynamical model incorporating skew wheel angles influencing the real robot trajectory. The final part is then to determine the aims in the following year 2007 which are focused mainly on implementation and verification of the functionality of mobility system, sensor system and communication system as well as a proposal of higher level of control.

BibTex


@inbook{BUT55117,
  author="Radek {Knoflíček} and Tomáš {Kubela} and Aleš {Pochylý} and Vladislav {Singule} and Miloš {Synek}",
  title="Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage",
  annote="This contribution summarizes the results of work carried out during the proposal and simulation modeling of the mobile robot undercarriage equipped with omnidirectional wheels. This work was done during the year 2006 under the terms of the research plan "Simulative modeling of mechatronic systems" on Institute of Production Machines, Systems and Robotics of FME, BUT. 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 model and dynamical model incorporating skew wheel angles influencing the real robot trajectory. The final part is then to determine the aims in the following year 2007 which are focused mainly on implementation and verification of the functionality of mobility system, sensor system and communication system as well as a proposal of higher level of control.",
  address="VUT v Brně",
  booktitle="SIMULATION MODELLING OF MECHATRONIC SYSTEMS II",
  chapter="55117",
  edition="Mechatronika",
  institution="VUT v Brně",
  year="2006",
  month="december",
  pages="109--120",
  publisher="VUT v Brně",
  type="book chapter"
}