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Subject Item
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rdf:type
skos:Concept n15:Vysledek
dcterms:description
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 %22Simulative modeling of mechatronic systems%22 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. 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 %22Simulative modeling of mechatronic systems%22 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.
dcterms:title
Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage
skos:prefLabel
Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage Simulation Modelling of Mobile Robot with Omnidirectional Undercarriage
skos:notation
RIV/00216305:26210/06:PU66937!RIV10-MSM-26210___
n3:aktivita
n12:Z
n3:aktivity
Z(MSM0021630518)
n3:dodaniDat
n11:2010
n3:domaciTvurceVysledku
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n16:C
n3:duvernostUdaju
n9:S
n3:entitaPredkladatele
n19:predkladatel
n3:idSjednocenehoVysledku
499381
n3:idVysledku
RIV/00216305:26210/06:PU66937
n3:jazykVysledku
n18:eng
n3:klicovaSlova
Mobile Robot, Omnidirectional wheel, State-space model, Simulation
n3:klicoveSlovo
n7:Omnidirectional%20wheel n7:Mobile%20Robot n7:Simulation n7:State-space%20model
n3:kontrolniKodProRIV
[5FCFB0DF6CD8]
n3:mistoVydani
Brno
n3:nazevEdiceCisloSvazku
Mechatronika
n3:nazevZdroje
SIMULATION MODELLING OF MECHATRONIC SYSTEMS II
n3:obor
n17:JD
n3:pocetDomacichTvurcuVysledku
5
n3:pocetStranKnihy
278
n3:pocetTvurcuVysledku
5
n3:rokUplatneniVysledku
n11:2006
n3:tvurceVysledku
Knoflíček, Radek Singule, Vladislav Kubela, Tomáš Synek, Miloš Pochylý, Aleš
n3:zamer
n14:MSM0021630518
s:numberOfPages
12
n13:hasPublisher
Vysoké učení technické v Brně
n20:isbn
80-214-3341-8
n10:organizacniJednotka
26210