Generic modelling of mathematical robot models
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26220%2F10%3APU88552" target="_blank" >RIV/00216305:26220/10:PU88552 - 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
Generic modelling of mathematical robot models
Original language description
It is necessary to have a good knowledge of robot wheelframe properties in order to be able to design mobile robots and control their motions. These properties are most useful in a form of a mathematical model of a robot wheelframe. The models can be structured into two groups - kinematic and dynamic. Sometimes a dynamic model is necessary which reflects also forces acting on the robot (f.e. centrifugal force created during passing through a curve), possibility of a wheel skid etc. However, for the majority of mobile robots, kinematic models are sufficient. The major part of wheels applied in robotics can be structured into several basic categories. Each wheel type has its own definition of basic conditions, which rule out the possibility of wheel skidand slip. These conditions are formulable via mathematical equations. Through the combination of equations for all the wheels of a robot wheelframe it is possible to gain the mathematical model of the whole wheelframe. This is a universa
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>Z - Vyzkumny zamer (s odkazem do CEZ)
Others
Publication year
2010
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů