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
journal article - other
Language
en
Original abstract
The paper deals with a design of a 3-wheeled mobile robot based on Mecanum omnidirectional wheels. The 3D CAD geometry model was initially prepared with Pro-Engineer. 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. Prvotní 3D model byl připraven v systému Pro-Engineer. 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 3D CAD geometry model was initially prepared with Pro-Engineer. 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
2010
Released
30.06.2010
Publisher
Trans Tech Publications
Location
Zurich, Switzerland
ISSN
1012-0394
Journal
Solid State Phenomena
Volume
164
Number
07
Pages from–to
387–391
Pages count
5
BIBTEX
@article{BUT49838,
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",
journal="Solid State Phenomena",
year="2010",
volume="164",
number="07",
month="June",
pages="387--391",
publisher="Trans Tech Publications",
address="Zurich, Switzerland",
issn="1012-0394"
}