Publication detail
Design of a mobile robot with omnidirectional wheels: simulation modeling of dynamics properties
KUBELA, T. POCHYLÝ, A.
Czech title
Návrh mobilního robotu se všesměrovými koly: simulační modelování dynamických vlastností
English title
Design of a mobile robot with omnidirectional wheels: simulation modeling of dynamics properties
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. 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.
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. 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.
Keywords in English
Mobile Robot, Omnidirectional wheel, Omnidirectional-robot, state-space model
RIV year
2007
Released
24.05.2007
Publisher
Faculty of Electrical Engineering, University of Ljubljana
Location
Ljubljana
ISBN
978-961-243-066-5
Book
Proceedings of the 16th International Workshop on Robotics in Alpe Adria Danube Region (RAAD 2007)
Pages from–to
34–34
Pages count
5
BIBTEX
@inproceedings{BUT22683,
author="Tomáš {Kubela} and Aleš {Pochylý},
title="Design of a mobile robot with omnidirectional wheels: simulation modeling of dynamics properties",
booktitle="Proceedings of the 16th International Workshop on Robotics in Alpe Adria Danube Region (RAAD 2007)",
year="2007",
month="May",
pages="34--34",
publisher="Faculty of Electrical Engineering, University of Ljubljana",
address="Ljubljana",
isbn="978-961-243-066-5"
}