Synthesis of action variable for motorcontrollers of a mobile system with specialwheels for movement on stairs

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F15%3A86096818" target="_blank" >RIV/61989100:27230/15:86096818 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1016/j.pisc.2015.11.050" target="_blank" >http://dx.doi.org/10.1016/j.pisc.2015.11.050</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.pisc.2015.11.050" target="_blank" >10.1016/j.pisc.2015.11.050</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Synthesis of action variable for motorcontrollers of a mobile system with specialwheels for movement on stairs

Popis výsledku v původním jazyce

The article presents a procedure of obtaining waveform of angular velocities for special segmented wheels required for smooth movement of a stair-climbing chassis on stairs. The waveform was determined for a specified velocity of the chassis using a dynamic contact analysis in the CAD system SolidWorks. The main part of the work was to verify whether real motors on a testing chassis are capable of producing the required angular velocity with its significant step changes. The values of angular velocities were sent to drive control units from a software control system of the chassis. The chassis was recorded during the movement on stairs on a video camera and the resulting video was then analysed by a special single-purpose image processing algorithm, which detected key points in individual frames. Outcome of the algorithm are tables with positions and velocities of individual key points during time. Tests proved that with lower velocities it is possible to achieve very good results with the chassis moving almost steadily.

Název v anglickém jazyce

Synthesis of action variable for motorcontrollers of a mobile system with specialwheels for movement on stairs

Popis výsledku anglicky

The article presents a procedure of obtaining waveform of angular velocities for special segmented wheels required for smooth movement of a stair-climbing chassis on stairs. The waveform was determined for a specified velocity of the chassis using a dynamic contact analysis in the CAD system SolidWorks. The main part of the work was to verify whether real motors on a testing chassis are capable of producing the required angular velocity with its significant step changes. The values of angular velocities were sent to drive control units from a software control system of the chassis. The chassis was recorded during the movement on stairs on a video camera and the resulting video was then analysed by a special single-purpose image processing algorithm, which detected key points in individual frames. Outcome of the algorithm are tables with positions and velocities of individual key points during time. Tests proved that with lower velocities it is possible to achieve very good results with the chassis moving almost steadily.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

—

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2015

Kód důvěrnosti údajů

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

Název statě ve sborníku

Perspectives in Science

ISBN

—

ISSN

2213-0209

e-ISSN

—

Počet stran výsledku

4

Strana od-do

329-332

Název nakladatele

Elsevier

Místo vydání

Amsterdam

Místo konání akce

Ostrava

Datum konání akce

7. 10. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—