Publication detail
Simulation modeling of mobile robot undercarriage equipped with omnidirectional wheels
KUBELA, T. POCHYLÝ, A.
Czech title
Simulační modelování podvozku mobilního robotu se všesměrovými koly
English title
Simulation modeling of mobile robot undercarriage equipped with omnidirectional wheels
Type
conference paper
Language
en
Original abstract
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.
Czech abstract
Tento příspěvěk shrnuje výsledky prací během návrhu a simulační modelování v souvislosti s plánováním dráhy autonomního lokomočního robotu ve známém nebo částečně známém prostředí. Za účelem vytvoření přesného návrhu a vhodného dimenzování pohonných jednotek zde byla vytvořena simulace dynamických vlastností podvozku se všesměrovými koly v systému Mathworks MATLAB 7. Je zde obsažen kinematický a dynamický model celé platformy, dále je zde vymezena možnost simulace nesouososti kol vzniklých při montáži, což má vliv na výslednou dráhu robotu.
English abstract
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.
Keywords in English
simulation, omnidirectional robot, state-space model
RIV year
2007
Released
14.05.2007
Publisher
Institute of Thermomechanics, Academy of Sciences of the Czech Republic, Prague
ISBN
978-80-87012-06-2
Book
Book of Extended Abstracts - Engineering Mechanics 2007
Pages from–to
145–146
Pages count
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",
month="May",
pages="145--146",
publisher="Institute of Thermomechanics, Academy of Sciences of the Czech Republic, Prague",
isbn="978-80-87012-06-2"
}