Návrh mobilního robotu se všesměrovými koly: simulační modelování dynamických vlastností

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F07%3APU68405" target="_blank" >RIV/00216305:26210/07:PU68405 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Design of a mobile robot with omnidirectional wheels: simulation modeling of dynamics properties

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Design of a mobile robot with omnidirectional wheels: simulation modeling of dynamics properties

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

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Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2007

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 16th International Workshop on Robotics in Alpe Adria Danube Region (RAAD 2007)

ISBN

978-961-243-066-5

ISSN

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e-ISSN

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Počet stran výsledku

5

Strana od-do

34-38

Název nakladatele

Faculty of Electrical Engineering, University of Ljubljana

Místo vydání

Ljubljana

Místo konání akce

Ljubljana

Datum konání akce

7. 6. 2007

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

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