Mobile robot concept with walking wheels made of rotary segments

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F17%3A00004497" target="_blank" >RIV/46747885:24220/17:00004497 - isvavai.cz</a>

Výsledek na webu

<a href="http://xplorestaging.ieee.org/ielx7/7960134/7970353/07970467.pdf?arnumber=7970467" target="_blank" >http://xplorestaging.ieee.org/ielx7/7960134/7970353/07970467.pdf?arnumber=7970467</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/CarpathianCC.2017.7970467" target="_blank" >10.1109/CarpathianCC.2017.7970467</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Mobile robot concept with walking wheels made of rotary segments

Popis výsledku v původním jazyce

Crossing over obstacles or riding up in steep terrain is still not completely solved problem in wheeled-mobile robotics. This paper describes a concept of four-wheeled mobile robot with unique patented wheels made of rotary segments. Rotation of segments changes the surface of wheels from normal wheel for movement on roads or flat ground to wheels for movement in terrain, over obstacles or upstairs. For control of walking-wheels a drive stored in an aluminium frame was build. The drive allows to set its shaft into two position. One for control of movement of the drive and second for control of opening and closing of wheel segments. Current feedback regulator is in the frame of drive. PLC with smart device controller (SDC) structure is used for control of the mobile robot. It allows to control drives without specialized motion control units. The main goal of this paper is to describe a mechanical construction of this mobile robot, its drives and basics of software motion control for further testing of mobile robot wheels on different terrains in different environments.

Název v anglickém jazyce

Mobile robot concept with walking wheels made of rotary segments

Popis výsledku anglicky

Crossing over obstacles or riding up in steep terrain is still not completely solved problem in wheeled-mobile robotics. This paper describes a concept of four-wheeled mobile robot with unique patented wheels made of rotary segments. Rotation of segments changes the surface of wheels from normal wheel for movement on roads or flat ground to wheels for movement in terrain, over obstacles or upstairs. For control of walking-wheels a drive stored in an aluminium frame was build. The drive allows to set its shaft into two position. One for control of movement of the drive and second for control of opening and closing of wheel segments. Current feedback regulator is in the frame of drive. PLC with smart device controller (SDC) structure is used for control of the mobile robot. It allows to control drives without specialized motion control units. The main goal of this paper is to describe a mechanical construction of this mobile robot, its drives and basics of software motion control for further testing of mobile robot wheels on different terrains in different environments.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2017

Kód důvěrnosti údajů

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

Název statě ve sborníku

2017 18th International Carpathian Control Conference, ICCC 2017

ISBN

978-150904862-5

ISSN

—

e-ISSN

—

Počet stran výsledku

5

Strana od-do

583-587

Název nakladatele

IEEE

Místo vydání

Sinaia

Místo konání akce

Palace HotelSinaia; Romania

Datum konání akce

1. 1. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—