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"
}