Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F06%3APU66937" target="_blank" >RIV/00216305:26210/06:PU66937 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage
Original language description
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 name
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Czech description
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Publication year
2006
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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