New conception of omnidirectional mobile robot with Mecanum wheels: kinematics and dynamics modelling
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F08%3APU76350" target="_blank" >RIV/00216305:26210/08:PU76350 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
New conception of omnidirectional mobile robot with Mecanum wheels: kinematics and dynamics modelling
Original language description
This contribution summarizes main results concerned with a design of a mobile robot with omnidirectional wheels and the key area covered in this work is kinematics and dynamics modelling of the robot platform. In the introductory part, there are presented main features of omnidirectional wheels and a new conception of a Mecanum-type wheel is introduced. Next sections are focused on a mathematical description - kinematical and dynamical model is then followed by a state-space model of the robot platform.Based on the mathematical description, a simulation model in Matlab/Simulink was created. The simulation results are shown and discussed in the final part of this work.
Czech name
Nová koncepce všesměrového robotu s koly Mecanum: modelování kinematiky a dynamiky
Czech description
Tento příspěvěk shrnuje výsledky prací během návrhu a simulačního modelování autonomního lokomočního robotu s všesměrovými koly typu Mecanum. Hlavní část je věnována modelování kinematiky a dynamiky v souvislosti s koly Mecanum.
Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
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Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)
Others
Publication year
2008
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Book of Extended Abstracts - Engineering Mechanics 2008
ISBN
978-80-87012-11-6
ISSN
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e-ISSN
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Number of pages
10
Pages from-to
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Publisher name
Institute of Thermomechanics, Academy of Sciences of the Czech Republic, Prague
Place of publication
Neuveden
Event location
Svratka
Event date
May 12, 2008
Type of event by nationality
CST - Celostátní akce
UT code for WoS article
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