Detail publikace

Simulační modelování mobilního robotu s všesměrovým podvozkem

KNOFLÍČEK, R. KUBELA, T. POCHYLÝ, A. SINGULE, V. SYNEK, M.

Český název

Simulační modelování mobilního robotu s všesměrovým podvozkem

Anglický název

Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage

Typ

kapitola v knize

Jazyk

en

Originální abstrakt

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.

Český abstrakt

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.

Anglický abstrakt

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.

Klíčová slova anglicky

Mobile Robot; Omnidirectional wheel; State-space model; Simulation

Rok RIV

2006

Vydáno

15.12.2006

Nakladatel

VUT v Brně

Místo

Brno

ISBN

80-214-3341-8

Kniha

SIMULATION MODELLING OF MECHATRONIC SYSTEMS II

Číslo edice

1

Strany od–do

109–120

Počet stran

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"
}