Virtual prototype of fast differentially driven mobile robot aimed at control algorithm development

• Autorzy: Grepl R. , Hrabec J.
• Konferencja: International Seminar of Applied Mechanics (11 ; 08-10.06.2007 ; Wisła, Polska)
• Języki publikacji: EN

Abstrakty

EN

This paper briefly reports about the project of virtual prototyping of differentially driven soccer robot. The main motivation is given by the necessity to model the system dynamics during the advanced control algorithm development. During the fast manoeuvres the slipping frequently appears and subsequently the control is lost. The Simulink environment is usually used for simulations of control problems and SimMechanics allows the modelling of mechanical issues with automatic equation derivation.

Słowa kluczowe

EN

mobile robot; virtual prototyping; control algorithm; Simulink; SimMechanics

PL

robot mobilny; wirtualne prototypowanie; algorytm sterowania; Simulink; SimMechanics

• Wydawca: Wydawnictwo Katedry Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Modelling and Optimization of Physical Systems
• Rocznik: 2007
• Tom: z. 6
• Strony: 59--64
• Opis fizyczny: Bibliogr. 4 poz.

Twórcy

autor

Grepl R.

• Institute of Solid Mechanics, Mechatronics and Biomechanics, Faculty of Mechanical Engineering, Brno University of Technology, Czech Republic

autor

Hrabec J.

• Department of Control and Instrumentation, Faculty of Electrical Engineering and Communication, Brno University o f Technology, Czech Republic

Bibliografia

• 1. Grepl, R.: Modelovani mechatronickych systemu v Matlab/SimMe-chanics, publisher BEN - technicka literatura, 2007 (will be published).
• 2. RoBohemia team, FEEC, Brno University of Technology, web pages httn://www.robohemia.cz/.
• 3. Solc, F., Hrabec, J., Grepl, R.: Modelling of Fast Differentially Driven Mobile Robot, NETSS 2006, 3rd International Winter Workshop, Prerov, 2006.
• 4. Solc, F., Hrabec, J., Honzik, B.: Control of a soccer robot, In 7th Symposium on Robot Control SYROCO 03. 7th Symposium on Robot Control SYROCO 03. Wroclav Poland: Wroclav University of Technology, s. 379 - 384, 2003.