Publication detail
Advanced Tools for Multi-body Simulation and Design of Control Structures Applied in Robotic System Development
KUBELA, T. POCHYLÝ, A. SINGULE, V.
Czech title
Pokročilé nástroje pro multi-body simulaci a návrh řídicích smyček aplikované v rámci návrhu robotického systému
English title
Advanced Tools for Multi-body Simulation and Design of Control Structures Applied in Robotic System Development
Type
conference paper
Language
en
Original abstract
The paper deals with a design of a 3-wheeled mobile robot based on Mecanum omnidirectional wheels. The key issue with respect to design methodology reported in this research work is related to the application of co-simulation strategy. System ADAMS, intended for multi-body simulations, was used to evaluate dynamic behavior of the robot platform. MATLAB/Simulink was applied for testing the performance and control of structures. The co-simulation strategy consists mainly in application of ADAMS and MATLAB simultaneously, in one loop, utilizing its respective advantages.
Czech abstract
Příspěvek se zabývá návrhem mobilní robotické platformy se všesměrovými koly Mecanum. Pro pokročilou návrhovou metodiku celé platformy byl nicméně použit tzv. systém ko-simulace, resp. koordinované simulace zahrnující využití systému MSC.ADAMS pro simulaci komplexního dynamického chování platformy a dále systému MATLAB/Simulink, ve kterém byl ověřován návrh řídicích smyček. Koordinovaná simulace zahrnuje současné využití systému ADAMS a MATLAB v jedné smyčce, z čehož plyne řada výhod pro pokročilé navrhování mechatronických systémů.
English abstract
The paper deals with a design of a 3-wheeled mobile robot based on Mecanum omnidirectional wheels. The key issue with respect to design methodology reported in this research work is related to the application of co-simulation strategy. System ADAMS, intended for multi-body simulations, was used to evaluate dynamic behavior of the robot platform. MATLAB/Simulink was applied for testing the performance and control of structures. The co-simulation strategy consists mainly in application of ADAMS and MATLAB simultaneously, in one loop, utilizing its respective advantages.
Keywords in Czech
multi-body simulace; návrh robotu; všesměrové kolo; Mecanum
Keywords in English
multi-body simulation; robot design; omnidirectional Mecanum wheels
RIV year
2009
Released
22.10.2009
Publisher
Vilnius Technika
Location
Vilnius
ISBN
978-9955-28-493-2
Book
Proceedings of the 5th International Conference Mechatronic System and Materials
Edition number
1
Pages from–to
387–391
Pages count
5
BIBTEX
@inproceedings{BUT37086,
author="Tomáš {Kubela} and Aleš {Pochylý} and Vladislav {Singule},
title="Advanced Tools for Multi-body Simulation and Design of Control Structures Applied in Robotic System Development",
booktitle="Proceedings of the 5th International Conference Mechatronic System and Materials",
year="2009",
month="October",
pages="387--391",
publisher="Vilnius Technika",
address="Vilnius",
isbn="978-9955-28-493-2"
}