Publication detail
Ackermann mobile robot chassis with independent rear wheel drives
HRBÁČEK, J. RIPEL, T. KREJSA, J.
Czech title
Podvozek pro mobilní robot s Ackermannovým řízením a nezávislými pohony zadních kol
English title
Ackermann mobile robot chassis with independent rear wheel drives
Type
conference paper
Language
en
Original abstract
The paper describes four-wheeled robotic chassis of the autonomous mobile robot Bender II utilizing Ackermann steering and independent rear drive units. The robot is designed for the use in outdoor environment. Independent rear drive gives better traction in uneven terrain with the cost of doubling the motion hardware (motors, gears and controllers). Hardware and software implementation details as well as practical experiences of this approach deployment are presented.
Czech abstract
Článek se zabývá čtyřkolovým robotickým podvozkem autonomního mobilního robotu Bender II s Ackemannovým řízením a nezávislými pohony zadních kol. Robot je navržen pro provoz ve venkovním prostředí. Nezávislé pohonné jednotky zadních kol vykazují lepší trakci v nerovném terénu za cenu zdvojení pohonných soustav (motory, převody a regulace). Je popsána hardwarová a softwarová implementace i praktické zkušenosti z provozu.
English abstract
The paper describes four-wheeled robotic chassis of the autonomous mobile robot Bender II utilizing Ackermann steering and independent rear drive units. The robot is designed for the use in outdoor environment. Independent rear drive gives better traction in uneven terrain with the cost of doubling the motion hardware (motors, gears and controllers). Hardware and software implementation details as well as practical experiences of this approach deployment are presented.
Keywords in Czech
Elektrický pohon, Mechatronika, Řízení pohybu, Robotika
Keywords in English
Electrical Drive, Mechatronics, Motion control, Robotics
RIV year
2010
Released
06.09.2010
Location
Skopje, Republic of Macedonia
ISBN
978-1-4244-7856-9
Book
Proceedings of EPE-PEMC 2010
Pages from–to
T5-46–T5-51
Pages count
6
BIBTEX
@inproceedings{BUT35404,
author="Jan {Hrbáček} and Tomáš {Ripel} and Jiří {Krejsa},
title="Ackermann mobile robot chassis with independent rear wheel drives",
booktitle="Proceedings of EPE-PEMC 2010",
year="2010",
month="September",
pages="T5-46--T5-51",
address="Skopje, Republic of Macedonia",
isbn="978-1-4244-7856-9"
}