Publication detail
Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage
KNOFLÍČEK, R. KUBELA, T. POCHYLÝ, A. SINGULE, V. SYNEK, M.
Czech title
Simulační modelování mobilního robotu s všesměrovým podvozkem
English title
Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage
Type
book chapter
Language
en
Original abstract
This contribution summarizes the results of work carried out during the proposal and simulation modeling of the mobile robot undercarriage equipped with omnidirectional wheels. This work was done during the year 2006 under the terms of the research plan "Simulative modeling of mechatronic systems" on Institute of Production Machines, Systems and Robotics of FME, BUT. 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 model and dynamical model incorporating skew wheel angles influencing the real robot trajectory. The final part is then to determine the aims in the following year 2007 which are focused mainly on implementation and verification of the functionality of mobility system, sensor system and communication system as well as a proposal of higher level of control.
Czech abstract
Příspěvek shrnuje výsledky prací během návrhu a simulačního modelování mobilního robotu se všesměrovými koly v rámci výzkumného záměru "Simulační modelování mechatronických soustav" na Ústavu výrobních strojů, systémů a robotiky, FSI VUT v Brně.
English abstract
This contribution summarizes the results of work carried out during the proposal and simulation modeling of the mobile robot undercarriage equipped with omnidirectional wheels. This work was done during the year 2006 under the terms of the research plan "Simulative modeling of mechatronic systems" on Institute of Production Machines, Systems and Robotics of FME, BUT. 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 model and dynamical model incorporating skew wheel angles influencing the real robot trajectory. The final part is then to determine the aims in the following year 2007 which are focused mainly on implementation and verification of the functionality of mobility system, sensor system and communication system as well as a proposal of higher level of control.
Keywords in English
Mobile Robot; Omnidirectional wheel; State-space model; Simulation
RIV year
2006
Released
15.12.2006
Publisher
VUT v Brně
Location
Brno
ISBN
80-214-3341-8
Book
SIMULATION MODELLING OF MECHATRONIC SYSTEMS II
Edition number
1
Pages from–to
109–120
Pages count
12
BIBTEX
@inbook{BUT55117,
author="Radek {Knoflíček} and Tomáš {Kubela} and Aleš {Pochylý} and Vladislav {Singule} and Miloš {Synek},
title="Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage",
booktitle="SIMULATION MODELLING OF MECHATRONIC SYSTEMS II",
year="2006",
month="December",
pages="109--120",
publisher="VUT v Brně",
address="Brno",
isbn="80-214-3341-8"
}