Publication detail
Simulation modeling and control of a mobile robot with omnidirectional wheels
KUBELA, T. POCHYLÝ, A.
Czech title
Simulační modelování a řízení mobilního robotu se všesměrovými koly
English title
Simulation modeling and control of a mobile robot with omnidirectional wheels
Type
conference paper
Language
en
Original abstract
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.
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. Výsledky simulace jsou shrnuty ve formě stavového modelu celé platformy robotu.
English abstract
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.
Keywords in English
mobile robot, omnidirectional wheel, simulation, state-space model
RIV year
2007
Released
19.09.2007
Publisher
Springer Berlin, Heidelberg
ISBN
978-3-540-73955-5
Book
Recent Advances in Mechatronics
Edition number
1
Pages from–to
22–26
Pages count
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",
month="September",
pages="22--26",
publisher="Springer Berlin, Heidelberg",
isbn="978-3-540-73955-5"
}